Multi-Rotor Wind Turbine MPC Control Under Module Constraints

The control system is segmented into independent local controllers for each wind turbine module, where each controller autonomously optimizes its module's performance using local measurements and a cost function. This segmentation allows parallel operation of multiple controllers without requiring complex inter-coordination, resolving the contradiction by enabling individual optimization while maintaining control simplicity through modular independence.

The local controller is designed as a universal control solution that can be applied to any wind turbine module regardless of the specific support structure construction. The controller achieves this universality by relying solely on local measurements from its own module and using a cost function that adapts to different configurations without requiring knowledge of the overall system architecture, thereby enabling broad adaptability while maintaining simple, robust operation.

The MPC routine uses only local operational state measurements from the individual wind turbine module to compute the cost function and determine optimal control actions. This local quality approach allows the controller to achieve precise optimization for its specific module without requiring system-wide state information, thereby improving control precision while minimizing computational energy consumption by processing only locally available data.