Predictive Guidance Control for Autonomous Kites with Input Delay

Wood, T. A., Ahbe, E., Hesse, H. and Smith, R. S. (2017) Predictive Guidance Control for Autonomous Kites with Input Delay. In: IFAC 2017 World Congress, Toulouse, France, 9-14 July 2017, (doi: 10.1016/j.ifacol.2017.08.1965)

150466.pdf - Accepted Version



In this paper we consider the design of a model predictive guidance controller in a cascaded control scheme for an autonomous kite with significant input delay. The input rate of the guidance is bounded to ensure robust performance of the underlying tracking controller. This is achieved by analysisng the limitations of the tracking controller arising from model parameter uncertainty and input delay. The delay is accounted for in the control design by predicting the values of the feedback variables ahead of time based on the past inputs and the system models. To account for changing operating conditions the model parameters are updated online. The proposed method has been tested in a real-time hardware-in-the-loop simulation study.

Item Type:Conference Proceedings
Glasgow Author(s) Enlighten ID:Hesse, Dr Henrik
Authors: Wood, T. A., Ahbe, E., Hesse, H., and Smith, R. S.
College/School:College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity
Published Online:18 October 2017
Copyright Holders:Copyright © 2017 IFAC (International Federation of Automatic Control)
First Published:First published in IFAC-PapersOnLine 50(1):13276-13281
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher

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