eprintid: 4027
rev_number: 11
eprint_status: archive
userid: 87
dir: disk0/00/00/40/27
datestamp: 2018-03-12 10:55:17
lastmod: 2018-03-12 10:55:17
status_changed: 2018-03-12 10:55:17
type: article
metadata_visibility: show
creators_name: Gros, Sébastien
creators_name: Zanon, Mario
creators_name: Vukov, Milan
creators_name: Diehl, Moritz
creators_id: 
creators_id: mario.zanon@imtlucca.it
creators_id: 
creators_id: 
title: Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes
ispublished: pub
subjects: T1
divisions: CSA
full_text_status: restricted
pres_type: paper
keywords: real-time NMPC & MHE; multi-body mechanical systemshigh-index DAE; code generation
note: 4th IFAC Nonlinear Model Predictive Control Conference
International Federation of Automatic Control
Noordwijkerhout, NL. August 23-27, 2012
abstract: 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.
date: 2012
date_type: published
publication: IFAC Proceedings Volumes
volume: 45
number: 17
publisher: Elsevier
pagerange: 86-93
event_title: IFAC Conference on Nonlinear Model Predictive Control
event_type: conference
id_number: doi:10.3182/20120823-5-NL-3013.00061
refereed: TRUE
issn: 14746670
official_url: http://doi.org/10.3182/20120823-5-NL-3013.00061
citation:   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)  
document_url: http://eprints.imtlucca.it/4027/1/1-s2.0-S147466701631432X-main.pdf