Generation of feasible and optimal reference trajectories is crucial in tracking Nonlinear Model Predictive Control. Especially, for stability and optimality in presence of a time varying parameter, adaptation of the tracking trajectory has to be implemented. General approaches are real-time generation of trajectories or switching between a discrete set of precomputed trajectories. In order to circumvent the operational efforts of these methods for a special type of dynamical systems, we propose time warping as an alternative approach. This algorithm implements online generation of tracking trajectories by warping a single precomputed reference. In detail, warpable systems, feasibility and optimality of trajectories and the controller implementation are discussed. Finally, as an application example, simulation results of a tethered kite system for airborne wind energy generation are presented.
|Publication status||Published - 2017|
|Event||20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France|
Duration: 9 Jul 2017 → 14 Jul 2017
Conference number: 20
- optimal trajectory
- Predictive control
- renewable energy systems