Predictive Guidance Control for Autonomous Kites with Input Delay

Abstract

Abstract:We consider the design of a model predictive guidance controller in a cascaded control scheme for an autonomous kite with significant input delay. The rate of change of the signal commanded by the guidance is bounded to ensure robust performance of the underlying tracking controller. We analyse 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.

Tracking Control for Wheeled Mobile Robot Based on Delayed Sensor Measurements

“…In several applications of control systems, processing or transmitting information is necessary to make decisions. To determine location or perceive an environment may introduce more or less significant delays [1,2,3,4,5,6]. For example, the measurement of the linear velocity of the vehicle given by a GPS sensor is usually delayed with respect to the real velocity of the vehicle.…”