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Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes

Sebastien Gros 1 Mario Zanon 1 Moritz Diehl 1
1 ESAT - Department of Electrical Engineering [Leuven]
Abstract : Mechanical applications often require a high control frequency to cope with fast dynamics. The control frequency of a nonlinear model predictive controller depends strongly on the symbolic complexity of the equations modeling the system. The symbolic complexity of the model equations for multi-body mechanical systems can often be dramatically reduced by using representations based on non-minimal coordinates, which result in index-3 differential-algebraic equations (DAEs). This paper proposes a general procedure to efficiently treat multi-body mechanical systems in the context of real-time NMPC, using non-minimal coordinate representations.
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https://hal.inria.fr/hal-00800498
Contributor : Estelle Bouzat <>
Submitted on : Wednesday, March 13, 2013 - 5:27:16 PM
Last modification on : Thursday, February 21, 2019 - 10:31:45 AM

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Sebastien Gros, Mario Zanon, Moritz Diehl. Nonlinear MPC and MHE for Mechanical Multi-Body Systems with Application to Fast Tethered Airplanes. IFAC Conference on Nonlinear Model Predictive Control 2012 (NMPC'12, 2012, Leeuwenhorst, Netherlands. pp.86-93, ⟨10.3182/20120823-5-NL-3013.00061⟩. ⟨hal-00800498⟩

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