Warping model predictive control for application in control of a real airborne wind energy system

Warping model predictive control for application in control of a real airborne wind energy system

Lago, Jesus (TU Delft Team Bart De Schutter)
Erhard, Michael (Hamburg University of Applied Sciences)
Diehl, Moritz (University of Freiburg)

2018

Fast online generation of feasible and optimal reference trajectories is crucial in tracking model predictive control, especially for stability and optimality in presence of a time varying parameter. In this paper, in order to circumvent the operational efforts of handling a discrete set of precomputed trajectories and switching between them, time warping of a single trajectory is proposed as an alternative concept. In particular, the conceptual ideas of warping theory are presented and illustrated based on the example of a tethered kite system for airborne wind energy. In detail, for warpable systems, feasibility and optimality of trajectories are discussed. Subsequently, the full algorithm of a nonlinear model predictive control implementation based on warping a single precomputed reference is presented. Finally, the warping algorithm is applied to the airborne wind energy system. Simulation results in presence of real world perturbations are evaluated and compared.

Airborne wind energy
Optimal trajectory generation
Tracking NMPC
Warping theory

http://resolver.tudelft.nl/uuid:92aab954-f2c0-4642-9c47-4b21647ce55c

https://doi.org/10.1016/j.conengprac.2018.06.008

2018-12-29

0967-0661

Control Engineering Practice, 78, 65-78

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2018 Jesus Lago, Michael Erhard, Moritz Diehl