Diwale, SanketSanketDiwaleFaulwasser, TimmTimmFaulwasserJones, ColinColinJones2024-03-052024-03-052017IFAC-PapersOnLine 50 (1): 13270-13275 (2017)https://hdl.handle.net/11420/46247A nonlinear path following model predictive control scheme with application to a kite based airborne wind energy system is presented. A novel terminal constraint is introduced to guarantee closed-loop stability and convergence of the vehicle to geometric paths of desired shapes. Convergence conditions are investigated and the efficacy of the approach is demonstrated via numerical simulations for desired path shapes under nominal and perturbed conditions.en2405-8963201711327013275Elsevierconvergence vector fieldnonlinear model predictive controlpath followingComputer SciencesMathematicsEngineeringConference Paper10.1016/j.ifacol.2017.08.1964Other