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Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes

Gros, Sébastien and Zanon, Mario and Vukov, Milan and Diehl, Moritz Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes. IFAC Proceedings Volumes, 45 (17). pp. 86-93. ISSN 14746670 (2012)

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Mechanical applications often require a high control frequency to cope with fast dynamics. The control frequency of a nonlinear model predictive controller depends strongly on the symbolic complexity of the equations modeling the system. The symbolic complexity of the model equations for multi-body mechanical systems can often be dramatically reduced by using representations based on non-minimal coordinates, which result in index-3 differential-algebraic equations (DAEs). This paper proposes a general procedure to efficiently treat multi-body mechanical systems in the context of MHE & NMPC using non-minimal coordinate representations, and provides the resulting computational times that can be achieved on a tethered airplane system using code generation.

Item Type: Article
Identification Number: 10.3182/20120823-5-NL-3013.00061
Additional Information: 4th IFAC Nonlinear Model Predictive Control Conference International Federation of Automatic Control Noordwijkerhout, NL. August 23-27, 2012
Uncontrolled Keywords: real-time NMPC & MHE; multi-body mechanical systemshigh-index DAE; code generation
Subjects: T Technology > T Technology (General)
Research Area: Computer Science and Applications
Depositing User: Mario Zanon
Date Deposited: 12 Mar 2018 10:55
Last Modified: 12 Mar 2018 10:55
URI: http://eprints.imtlucca.it/id/eprint/4027

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