Warping NMPC for Online Generation and Tracking of Optimal Trajectories*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Lago, Jesus; Erhard, Michael; Diehl, Moritz
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 13252
• Page End: 13257
• Publication Date: 2017-07
• Subjects: Predictive control -- optimal trajectory -- renewable energy systems -- optimization; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1961
• Languages: English
• ISSNs: 2405-8963

Abstract

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.