Trajectory tracking control of kites with system delay
For researchers working on kite control systems, this work addresses previously poorly understood stability issues caused by system delay.
The paper updates a trajectory tracking control algorithm for tethered wings (kites) based on experimental evidence, analyzes its stability under system delay using delay differential equations, and derives a gain selection methodology via the Lambert W function, validated through simulations.
A previously published algorithm for trajectory tracking control of tethered wings, i.e. kites, is updated in light of recent experimental evidence. The algorithm is, furthermore, analyzed in the framework of delay differential equations. It is shown how the presence of system delay influences the stability of the control system, and a methodology is derived for gain selection using the Lambert W function. The validity of the methodology is demonstrated with simulation results. The analysis sheds light on previously poorly understood stability problems.