Warping NMPC for online generation and tracking of optimal trajectories

Lago, Jesus; Erhard, Michael; Diehl, Moritz

doi:10.1016/j.ifacol.2017.08.1961

Warping NMPC for online generation and tracking of optimal trajectories

Title

Warping NMPC for online generation and tracking of optimal trajectories

Author

Lago, Jesus (TU Delft Team Bart De Schutter; VITO-Energyville)
Erhard, Michael (SkySails Power; University of Freiburg)
Diehl, Moritz (Albert-Ludwigs-Universität Freiburg)

Date

2017

Abstract

Generation of feasible and optimal reference trajectories is crucial in tracking Nonlinear Model Predictive Control. Especially, for stability and optimality in presence of a time varying parameter, adaptation of the tracking trajectory has to be implemented. General approaches are real-time generation of trajectories or switching between a discrete set of precomputed trajectories. In order to circumvent the operational efforts of these methods for a special type of dynamical systems, we propose time warping as an alternative approach. This algorithm implements online generation of tracking trajectories by warping a single precomputed reference. In detail, warpable systems, feasibility and optimality of trajectories and the controller implementation are discussed. Finally, as an application example, simulation results of a tethered kite system for airborne wind energy generation are presented.

Subject

optimal trajectory
optimization
Predictive control
renewable energy systems

To reference this document use:

http://resolver.tudelft.nl/uuid:c49b634b-6f5a-4828-9d32-403d1df42abf

DOI

https://doi.org/10.1016/j.ifacol.2017.08.1961

ISSN

2405-8963

Source

IFAC-PapersOnLine, 50 (1), 13252-13257

Event

20th World Congress of the International Federation of Automatic Control (IFAC), 2017, 2017-07-09 → 2017-07-14, Toulouse, France