Journal article
Real-time nonlinear MPC and MHE for a large-scale mechatronic application
KU Leuven1
Chalmers University of Technology2
Department of Applied Mathematics and Computer Science, Technical University of Denmark3
Scientific Computing, Department of Applied Mathematics and Computer Science, Technical University of Denmark4
Center for Energy Resources Engineering, Centers, Technical University of Denmark5
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.
| Language: | English |
|---|---|
| Year: | 2015 |
| Pages: | 64-78 |
| ISSN: | 18736939 and 09670661 |
| Types: | Journal article |
| DOI: | 10.1016/j.conengprac.2015.08.012 |
| ORCIDs: | Jørgensen, John Bagterp |
