A Real-time MHE and NMPC Scheme for Wind Turbine Control
Paper i proceeding, 2013

Among the several problems arising in the Airborne Wind Energy paradigm, an essential one is the control of the tethered airfoil trajectory during power generation. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Non-linear Model Predictive Control. In this paper, a computationally efficient model is proposed, based on Differential-Algebraic equations. A control scheme based on Nonlinear Model Predictive Control (NMPC) and an estimator based on Moving Horizon Estimation (MHE) is proposed to handle the wind turbulences. In order to make a real-time application of Non-linear Model Predictive Control possible, a Real-Time Iteration scheme is proposed.

Wind turbine control

Real-time NMPC and MHE


Sébastien Gros

Signaler och system, System- och reglerteknik, Reglerteknik

M. Vukov

M. Diehl

52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10-13 December 2013

0191-2216 (ISSN)



Elektroteknik och elektronik