Warping NMPC for online generation and tracking of optimal trajectories

Warping NMPC for online generation and tracking of optimal trajectories

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

2017

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.

optimal trajectory
optimization
Predictive control
renewable energy systems

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

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

2405-8963

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

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

Institutional Repository

journal article

© 2017 Jesus Lago, Michael Erhard, Moritz Diehl