Warping NMPC for online generation and tracking of optimal trajectories

Journal article (2017)

Authors

Jesus Lago Team Bart De Schutter - Mechanical, Maritime and Materials Engineering , VITO-Energyville
Michael Erhard University of Freiburg, SkySails Power
Moritz Diehl Albert-Ludwigs-Universität Freiburg
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Jesus Lago, Michael Erhard, Moritz Diehl
DOI
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https://doi.org/10.1016/j.ifacol.2017.08.1961
Optimization Renewable energy systems Predictive control Optimal trajectory
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Published Date

2017

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.