Model Predictive Path-Following Control for Airborne Wind Energy Systems * * This work is funded by the Sinergia project “Autonomous Airborne Wind Energy” (A 2WE) of the Swiss National Science Foundation (SNSF).

摘要

A nonlinear path following model predictive control scheme with application to a kite based airborne wind energy system is presented. A novel terminal constraint is introduced to guarantee closed-loop stability and convergence of the vehicle to geometric paths of desired shapes. Convergence conditions are investigated and the efficacy of the approach is demonstrated via numerical simulations for desired path shapes under nominal and perturbed conditions.