Real-time nonlinear MPC and MHE for a large-scale mechatronic application
Artikel i vetenskaplig tidskrift, 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)

Automatic code generation

Rotational start-up

Airborne wind energy

Real-time iteration (RTI) scheme

Nonlinear model predictive control (NMPC)


M. Vukov

KU Leuven

Sébastien Gros

Signaler och system, System- och reglerteknik, Reglerteknik

G. Horn

KU Leuven

Universitat Freiburg im Breisgau

G. Frison

Danmarks Tekniske Universitet

K. Geebelen

KU Leuven

J. B. Jørgensen

Danmarks Tekniske Universitet

J. Swevers

KU Leuven

M. Diehl

Universitat Freiburg im Breisgau

KU Leuven

Control Engineering Practice

0967-0661 (ISSN)

Vol. 45 64-78