%0 Journal Article
%@ 14746670
%A Gros, Sébastien
%A Zanon, Mario
%A Vukov, Milan
%A Diehl, Moritz
%D 2012
%F eprints:4027
%I Elsevier
%J IFAC Proceedings Volumes
%K real-time NMPC & MHE; multi-body mechanical systemshigh-index DAE; code generation
%N 17
%P 86-93
%T Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes
%U http://eprints.imtlucca.it/4027/
%V 45
%X 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.
%Z 4th IFAC Nonlinear Model Predictive Control Conference  International Federation of Automatic Control  Noordwijkerhout, NL. August 23-27, 2012