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Nonlinear Model Predictive Control for mechanical applications is often used to perform the tracking of time-varying reference trajectories, and is typically implemented using quadratic penalty functions. Controllers for mechanical systems, however, are often required to handle large deviations from the reference trajectory. In such cases, it has been observed that NMPC schemes based on quadratic...
Airborne Wind Energy (AWE) systems generate energy by flying a tethered airfoil across the wind flow at a high velocity. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control (NMPC) and state estimation approaches based on Moving Horizon Estimation (MHE). Dual-Airfoil AWE systems, i.e. systems...
Among the several problems arising in the Airborne Wind Energy paradigm, an essential one is the control of the tethered airfoil trajectory during power generation. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Non-linear Model Predictive Control. In this paper, a computationally efficient model is proposed, based on Differential-Algebraic...
The idea of Airborne Wind Energy (AWE) is to generate power by flying a tethered airfoil across the windflow. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control (NMPC) and state estimation approaches based on Moving Horizon Estimation (MHE). In particular, the start-up phase of AWE systems...
Optimal control is recognized by the Airborne Wind Energy (AWE) community as a crucial tool for the development of the AWE industry. More specifically, the optimization of AWE systems for power generation is required to achieve the performance needed for their industrial viability. Models for AWE systems are highly nonlinear coupled systems. As a result, the optimization of power generation based...
Attitude estimation arises in many applications, and is crucial for the aerospace and aeronautic industry. A classical approach to perform the attitude estimation is via Inertial Measurement Unit (IMU) data and a set of measured observation vectors, both in the object and inertial reference frame. The attitude estimation can be then formulated as a constrained least-squares problem. As a possible...
For extreme maneuvers, feasible flight trajectories can be difficult to compute. If the aircraft is controlled based on linear approximations of the system dynamics that are computed along infeasible trajectories, poor control actions and violations of the flight envelope constraints can result. This paper proposes a Non-linear Model Predictive Control (NMPC) approach, to handle extreme maneuvers,...
The Airborne Wind Energy paradigm proposes to generate energy by flying a tethered airfoil across the wind flow. An essential problem posed by Airborne Wind Energy is the control of the tethered airfoil trajectory during power generation. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Nonlinear Model Predictive Control....
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