Rigid Body Modeling and Dynamic Flight Control of a Tethered Kite
Résumé
Concerns about CO2 emissions and rising oil costs are fueling the search for alternative energy sources, including wind power for maritime transportation. The Beyond the Sea enterprise led by Yves Parlier, seeks the usage of tethered kites as a sustainable propulsion solution for vessels.
This study explores a Lagrangian rigid body model that closely replicates a real-life experimental setup on the beach, incorporating parameters with physical significance and accounting for inertia effects. Keeping the kite in the desired part of the flying window is managed by guiding it along figure-eight trajectories, with adjustable parameters for position, size, and orientation.
A trajectory-following control strategy is employed to ensure alignment to the desired path. The model's accuracy and the effectiveness of the control methodology are qualitatively validated through simulations and animations of the kite's takeoff and dynamic flight across various trajectories.
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