L 0 and L 1 Guidance and Path-Following Control for Airborne Wind Energy Systems

Manuel C. R. M. Fernandes, Sérgio Vinha, Luís Tiago Paiva and Fernando A. C. C. Fontes
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Manuel C. R. M. Fernandes: SYSTEC, Department of Electrical and Computer Engineering, Faculty of Engineering, Universidade do Porto, 4099-002 Porto, Portugal
Sérgio Vinha: SYSTEC, Department of Electrical and Computer Engineering, Faculty of Engineering, Universidade do Porto, 4099-002 Porto, Portugal
Luís Tiago Paiva: SYSTEC, Department of Electrical and Computer Engineering, Faculty of Engineering, Universidade do Porto, 4099-002 Porto, Portugal
Fernando A. C. C. Fontes: SYSTEC, Department of Electrical and Computer Engineering, Faculty of Engineering, Universidade do Porto, 4099-002 Porto, Portugal

Energies, 2022, vol. 15, issue 4, 1-16

Abstract: 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 L 1 and on a proposed modification of it, which we termed L 0. We have developed and implemented both L 0 and L 1 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 L 0 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 L 0 controller showing a better performance when measured in terms of the average cross-track error.

Keywords: airborne wind energy; kite control; path following; L 1 guidance logic; L 0 guidance logic (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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