Tracking control with adaption of kites
| Autor: | Baayen, Jorn H., Ockels, Wubbo J. |
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| Rok vydání: | 2010 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | A novel tracking paradigm for flying geometric trajectories using tethered kites is presented. It is shown how the differential-geometric notion of turning angle can be used as a one-dimensional representation of the kite trajectory, and how this leads to a single-input single-output (SISO) tracking problem. Based on this principle a Lyapunov-based nonlinear adaptive controller is developed that only needs control derivatives of the kite aerodynamic model. The resulting controller is validated using simulations with a point-mass kite model. Comment: 20 pages, 12 figures |
| Databáze: | arXiv |
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