Real-time nonlinear MPC and MHE for a large-scale mechatronic application
Journal article, 2015
Progress in optimization algorithms and in computational hardware made deployment of Nonlinear Model Predictive Control (NMPC) and Moving Horizon Estimation (MHE) possible to mechatronic applications. This paper aims to assess the computational performance of NMPC and MHE for rotational start-up of Airborne Wind Energy systems. The capabilities offered by an automatic code generation tool are experimentally verified on a real physical system, using a model comprising 27 states and 4 inputs at a sampling frequency of 25 Hz. The results show the feedback times less than 5 ms for the NMPC with more than 1500 variables.
Moving horizon estimation (MHE)
Nonlinear model predictive control (NMPC)
Real-time iteration (RTI) scheme
Automatic code generation
Airborne wind energy
Rotational start-up
Author
M. Vukov
KU Leuven
Sébastien Gros
Chalmers, Signals and Systems, Systems and control
G. Horn
KU Leuven
University of Freiburg
G. Frison
Technical University of Denmark (DTU)
K. Geebelen
KU Leuven
J. B. Jørgensen
Technical University of Denmark (DTU)
J. Swevers
KU Leuven
M. Diehl
University of Freiburg
KU Leuven
Control Engineering Practice
0967-0661 (ISSN)
Vol. 45 64-78Subject Categories
Energy Engineering
DOI
10.1016/j.conengprac.2015.08.012