relation: http://eprints.imtlucca.it/4027/
title: Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes
creator: Gros, Sébastien
creator: Zanon, Mario
creator: Vukov, Milan
creator: Diehl, Moritz
subject: T Technology (General)
description: 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.
publisher: Elsevier
date: 2012
type: Article
type: PeerReviewed
format: application/pdf
language: en
identifier: http://eprints.imtlucca.it/4027/1/1-s2.0-S147466701631432X-main.pdf
identifier:   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)  
relation: http://doi.org/10.3182/20120823-5-NL-3013.00061
relation: doi:10.3182/20120823-5-NL-3013.00061