感度ベースのロバストNMPCによる傾斜マルチロータを用いた洋上風力タービンの近接点検
Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
洋上風力タービンの近接点検において、モデル不確かさや風の影響による安全制約違反を防ぐため、感度解析に基づく制約タイトニングを組み込んだロバストNMPCを提案した。
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著者: Giuseppe Silano, Martin Saska
分類: cs.RO
原文アブストラクト
Close-proximity offshore wind turbine inspection requires strict clearance control around large cylindrical structures under wind and model mismatch. Nominal Nonlinear Model Predictive Control (NMPC) may violate safety constraints when mass, inertia, thrust effectiveness, drag, or wind conditions differ from nominal assumptions. We propose a sensitivity-based robust NMPC for a tilted multirotor that robustifies the tower-clearance constraint via online constraint tightening. First-order parametric state sensitivities provide a structured-uncertainty margin, while bounded gusts are handled by a stage-dependent additive margin. The formulation augments the nominal NMPC with sensitivity propagation and margin evaluation only, leaving the receding-horizon optimization structure unchanged. Monte-Carlo evaluation over 500 uncertainty realizations on a boundary-critical helical inspection trajectory shows that the proposed controller eliminates the clearance violations observed under nominal NMPC at the cost of a moderate increase in solve time.
