L0 and L1 Guidance and Path-Following Control for Airborne Wind Energy Systems

• Type: Article in International Scientific Journal
• Date: 2022

Authors

Manuel C. R. M. Fernandes (Author) Other; Sérgio Vinha (Author) Other; L.T. Paiva (Author) FEUP; Fernando A. C. C. Fontes (Author) FEUP

Journal

Title: Energies

Vol. 15

Pages: 1-1390

ISSN: 1996-1073

Publisher: MDPI

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 1 Citation

Other information

Authenticus ID: P-00W-3N5

DOI: 10.3390/en15041390

Abstract (EN): For an efficient and reliable operation of an Airborne Wind Energy System, it is widely accepted that the kite should follow a pre-defined optimized path. In this article, we address the problem of designing a trajectory controller so that such path is closely followed. The path-following controllers investigated are based on a well-known nonlinear guidance logic termed L1 and on a proposed modification of it, which we termed L0. We have developed and implemented both L0 and L1 controllers for an AWES. The two controllers have an easy implementation with an explicit expression for the control law based on the cross-track error, on the heading angle relative to the path, and on a single parameter L (L-0 or L-1, depending on each controller) that we are able to tune. The L0 controller has an even easier implementation since the explicit control law can be used without the need to switch controllers. Since the switching of controllers might jeopardize stability, the L-0 controller has an important theoretical advantage in being able to guarantee stability on a larger domain of attraction. The simulation study shows that both nonlinear guidance logic controllers exhibit appropriate performance when the L parameter is adequately tuned, with the L0 controller showing a better performance when measured in terms of the average cross-track error.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 16