Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.


Model Analysis for Control of Autonomous Kites


N. de Palézieux dit Falconnet

Semester Thesis, FS14 (10346)

We analyze the nonlinear dynamics of a wind energy generating kite with the aim of designing a model based trajectory tracking controller. An energy generating tethered wing flies along figure-eight trajectories during an energy generation phase. The dynamics of the wing, which are modeled as a point mass, are linearized along a given reference figure-eight path. The linearization is analyzed along the sampled reference trajectory. A reduced number of linear models is found such that each model describes the dynamics of the wing in a different segment of the figure-eight cycle. In order to demonstrate the usefulness of the linear models, Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) trajectory tracking controllers are designed. In a first implementation, the linear model is updated at each point of the sampled trajectory. In a further step, the model is only updated with a reduced number of linear models according to the previously found segments of the cycle. The resulting controllers are tested and compared in simulation in the presence of wind disturbance and measurement noise.


Type of Publication:

(13)Semester/Bachelor Thesis

T. A. Wood

File Download:

Request a copy of this publication.
(Uses JavaScript)
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4863
Permanent link