L0 and L1 Guidance and Path-Following Control for Airborne Wind Energy Systems

For an efficient and reliable operation of Airborne Wind Energy System, it is widely accepted that the kite should follow a pre-defined optimized path. In this article, we address problem designing trajectory controller so such path closely followed. The path-following controllers investigated are based on well-known nonlinear guidance logic termed L1 proposed modification it, which L0. We have developed implemented both L0 for AWES. two easy implementation with explicit expression control law cross-track error, heading angle relative to path, single parameter L (L0 or L1, depending each controller) able tune. has even easier since can be used without need switch controllers. Since switching might jeopardize stability, important theoretical advantage in being guarantee stability larger domain attraction.The simulation study shows exhibit appropriate performance when adequately tuned, showing better measured terms average error.