How fast does a model has to be for NMPC

Specific Domains Modelling & Simulations
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26

I did some testing here: GitHub - Albatross-Kite-Transport/KitePredictiveControl.jl

I found out the following:

The model is too slow for NMPC with the KiteModels.jl model combined with RungeKutta(4) with supersampling.

Luckily, linearizing the model solves the speed problem. And this can be combined easily with online linearization, like @franckgaga suggested. Linearizing the kite model takes around 5 seconds, so this would not be done every timestep. But it doesn’t look like it is needed every timestep.

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