Optimal Control Algorithms with Adaptive Time-Mesh Refinement for Kite Power Systems

Abstract

This article addresses the problem of optimizing electrical power generation using kite power systems (KPSs). KPSs are airborne wind energy systems that aim to harvest the power of strong and steady high-altitude winds. With the aim of maximizing the total energy produced in a given time interval, we numerically solve an optimal control problem and thereby obtain trajectories and controls for kites. Efficiently solving these optimal control problems is crucial when the results are used in real-time control schemes, such as model predictive control. For this highly nonlinear problem, we derive continuous-time models—in 2D and 3D—and implement an adaptive time-mesh refinement algorithm. By solving the optimal control problem with such an adaptive refinement strategy, we generate a block-structured adapted mesh which gives results as accurate as those computed using fine mesh, yet with much less computing effort and high savings in memory and computing time.

Keywords

• nonlinear systems
• optimal control
• real-time optimization
• continuous-time systems
• adaptive algorithms
• time-mesh refinement
• kite power systems
• airborne wind energy