Warping NMPC for online generation and tracking of optimal trajectories

Jesus Lago Garcia, Michael Erhard, Moritz Diehl

Research output: Contribution to journalConference articleScientificpeer-review

1 Citation (Scopus)
31 Downloads (Pure)


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.

Original languageEnglish
Pages (from-to)13252-13257
Issue number1
Publication statusPublished - 2017
Event20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France
Duration: 9 Jul 201714 Jul 2017
Conference number: 20


  • optimal trajectory
  • optimization
  • Predictive control
  • renewable energy systems


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