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Predictive Guidance Control for Autonomous Kites with Input Delay

Author(s):

T. A. Wood, E. Ahbe, H. Hesse, R. S. Smith
Conference/Journal:

IFAC World Congress, Toulouse, France
Abstract:

In this paper we consider the design of a model predictive guidance controller in a cascaded control scheme for an autonomous kite with significant input delay. The input rate of the guidance is bounded to ensure robust performance of the underlying tracking controller. This is achieved by analysisng the limitations of the tracking controller arising from model parameter uncertainty and input delay. The delay is accounted for in the control design by predicting the values of the feedback variables ahead of time based on the past inputs and the system models. To account for changing operating conditions the model parameters are updated online. The proposed method has been tested in a real-time hardware-in-the-loop simulation study.

Year:

2017
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { WooEtal:2017:IFA_5622,
    author={T. A. Wood and E. Ahbe and H. Hesse and R. S. Smith},
    title={{Predictive Guidance Control for Autonomous Kites with Input
	  Delay}},
    booktitle={IFAC World Congress},
    pages={},
    year={2017},
    address={Toulouse, France},
    month=jul,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=5622}
}
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