TY  - JOUR
Y1  - 2012///
JF  - IFAC Proceedings Volumes
ID  - eprints4027
KW  - real-time NMPC & MHE; multi-body mechanical systemshigh-index DAE; code generation
PB  - Elsevier
UR  - http://doi.org/10.3182/20120823-5-NL-3013.00061
SN  - 14746670
IS  - 17
N2  - 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.
VL  - 45
TI  - Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes
N1  - 4th IFAC Nonlinear Model Predictive Control Conference
International Federation of Automatic Control
Noordwijkerhout, NL. August 23-27, 2012
A1  - Gros, Sébastien
A1  - Zanon, Mario
A1  - Vukov, Milan
A1  - Diehl, Moritz
EP  - 93
AV  - restricted
SP  - 86
ER  -