Real-Time Optimizing Control of an Experimental Crosswind Power Kite

The contribution of this paper is to propose and experimentally validate an optimizing control strategy for power kites flying crosswind. The algorithm ensures the kite follows a reference path (control) and also periodically optimizes the reference path (efficiency optimization). The path-following part of the controller is capable of consistently following a reference path, despite significant time delays and wind variations, using position measurements only. The path-optimization part adjusts the reference path in order to maximize line tension. It uses a real-time optimization algorithm that combines off-line modeling knowledge and on-line measurements. The algorithm has been tested comprehensively on a small-scale prototype, and this paper focuses on experimental results.