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- W2525738796 abstract "We consider a dual line kite that shall fly loops and address this periodic control problem with a state-of-the-art NMPC scheme. The kite is described by a nonlinear unstable ODE system, and the aim is to let the kite fly a periodic figure. Our approach is based on the ‘infinite horizon closed loop costing NMPC scheme to ensure nominal stability. To be able to apply this scheme, we first determine a periodic LQR controller to stabilize the kite locally in the periodic orbit. Then, we formulate a two-stage NMPC optimal control problem penalizing deviations of the system state from the periodic orbit, which also contains a state constraint that avoids that the kite collides with the ground. To solve the optimal control problems reliably and in real-time, we apply the newly developed “real-time iteration scheme” for fast online optimization in NMPC. The optimization based NMPC leads to significantly improved performance compared to the LQR controller, in particular as it respects state constraints. The NMPC closed loop also shows considerable robustness against changes in the wind direction." @default.
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- W2525738796 date "2003-09-01" @default.
- W2525738796 modified "2023-09-26" @default.
- W2525738796 title "Online NMPC of a Looping Kite Using Approximate Infinite Horizon Closed Loop Costing" @default.
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- W2525738796 doi "https://doi.org/10.1016/s1474-6670(17)34721-3" @default.
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