%V 45
%T Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes
%J IFAC Proceedings Volumes
%P 86-93
%R doi:10.3182/20120823-5-NL-3013.00061
%N 17
%D 2012
%A S?bastien Gros
%A Mario Zanon
%A Milan Vukov
%A Moritz Diehl
%I Elsevier
%O 4th IFAC Nonlinear Model Predictive Control Conference
International Federation of Automatic Control
Noordwijkerhout, NL. August 23-27, 2012
%K real-time NMPC & MHE; multi-body mechanical systemshigh-index DAE; code generation
%L eprints4027
%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.