Control of Towing Kites for Seagoing Vessels

In this paper, we present the basic features of the flight control of the SkySails towing kite system. After introducing the coordinate definitions and the basic system dynamics, we introduce a novel model used for controller design and justify its main dynamics with results from system identification based on numerous sea trials. We then present the controller design, which we successfully use for operational flights for several years. Finally, we explain the generation of dynamical flight patterns.