This article addresses the development and control of a tethered support car designed to facilitate the take-off and landing maneuvers of an Airborne Wind Energy System (AWES) during its circular motion. To improve kite flight performance, minimizing weight is essential. This requires a support structure that allows the kite to accelerate while aligning with its operational needs. Given this, the work begins with an overview of system models, including an analysis of the aircraft aerodynamic characteristics and the development of the support car model. Subsequently, the specifications for designing and assembling the aircraft prototype are presented. A system testing platform is described to validate the small-scale prototype, incorporating a set of sensors and actuators that meet the requirements and constraints of the take-off and landing phases. Finally, a low-level controller for the system velocity is developed and validated through real tests.