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Real-time nonlinear MPC and MHE for a large-scale mechatronic application

M. Vukov ; Sébastien Gros (Institutionen för signaler och system, Reglerteknik) ; G. Horn ; G. Frison ; K. Geebelen ; J. B. Jørgensen ; J. Swevers ; M. Diehl
Control Engineering Practice (0967-0661). Vol. 45 (2015), p. 64-78.
[Artikel, refereegranskad vetenskaplig]

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.

Nyckelord: Airborne wind energy, Automatic code generation, Moving horizon estimation (MHE), Nonlinear model predictive control (NMPC), Real-time iteration (RTI) scheme, Rotational start-up



Denna post skapades 2015-09-28. Senast ändrad 2016-01-22.
CPL Pubid: 223274

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik

Ämnesområden

Mekanisk energiteknik

Chalmers infrastruktur