Warping model predictive control for application in control of a real airborne wind energy system

Jesus Lago*, Michael Erhard, Moritz Diehl

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
18 Downloads (Pure)


Fast online generation of feasible and optimal reference trajectories is crucial in tracking model predictive control, especially for stability and optimality in presence of a time varying parameter. In this paper, in order to circumvent the operational efforts of handling a discrete set of precomputed trajectories and switching between them, time warping of a single trajectory is proposed as an alternative concept. In particular, the conceptual ideas of warping theory are presented and illustrated based on the example of a tethered kite system for airborne wind energy. In detail, for warpable systems, feasibility and optimality of trajectories are discussed. Subsequently, the full algorithm of a nonlinear model predictive control implementation based on warping a single precomputed reference is presented. Finally, the warping algorithm is applied to the airborne wind energy system. Simulation results in presence of real world perturbations are evaluated and compared.

Original languageEnglish
Pages (from-to)65-78
JournalControl Engineering Practice
Publication statusPublished - 2018

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Airborne wind energy
  • Optimal trajectory generation
  • Tracking NMPC
  • Warping theory


Dive into the research topics of 'Warping model predictive control for application in control of a real airborne wind energy system'. Together they form a unique fingerprint.

Cite this