Model-based identification and control of the velocity vector orientation for autonomous kites

In this paper we address a control problem for an autonomous tethered kite system for the purpose of airborne wind energy generation. In particular, we design a tracking controller for the velocity vector orientation of the kite. Motivated by empirical data we model the kite steering behaviour as a delayed dynamical system and explicitly utilise the derived model information for the controller design. We identify the involved parameters from experimental data. To adapt to changes in operating conditions we update the parameter estimation on-line. We present results of the derived approach successfully tested in real-world flight experiments.