%0 Conference Paper
%A Gros, S.
%A Zanon, Mario
%A Diehl, M.
%B European Control Conference (ECC)
%C Zurich, Switzerland
%D 2013
%F eprints:4045
%I IEEE
%K aerospace control;atmospheric turbulence;differential algebraic equations;infinite horizon;nonlinear control systems;power generation control;predictive control;stability;trajectory control;wind;wind power;MHE;NMPC;airborne wind energy system control;control approach;differential-algebraic equation;fast strongly nonlinear unstable constrained process;moving horizon estimation;nonlinear model predictive control;power generation;real-time iteration scheme;tethered airfoil trajectory control;tethered flight;wind turbulence handling;Computational modeling;Estimation;Power generation;Process control;Real-time systems;Trajectory;Vectors;Optimal Control;Real-time iteration;fast NMPC & MHE;flight control;trajectory tracking
%P 1017-1022
%T Control of Airborne Wind Energy systems based on Nonlinear Model Predictive Control amp; Moving Horizon Estimation
%U http://eprints.imtlucca.it/4045/
%X Among the several problems arising in the Airborne Wind Energy paradigm, an essential one is the control of the tethered airfoil trajectory during power generation. Tethered flight is a fast, strongly nonlinear, unstable and constrained process, motivating control approaches based on fast Non-linear Model Predictive Control. In this paper, a computationally efficient model is proposed, based on Differential-Algebraic equations. A control scheme based on Nonlinear Model Predictive Control (NMPC) and an estimator based on Moving Horizon Estimation (MHE) is proposed to handle the wind turbulences. In order to make a real-time application of Non-linear Model Predictive Control possible, a Real-Time Iteration scheme is proposed