システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
論文
オフラインでの特異値分解に基づく拘束条件付き非線形Receding Horizon制御の実時間アルゴリズム
赤山 慶太大塚 敏之
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ジャーナル フリー

2012 年 25 巻 5 号 p. 126-133

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In this paper, a real-time algorithm for nonlinear receding horizon control using the continuation/GMRES method (C/GMRES) is proposed. The continuation method is combined with a Krylov subspace method, GMRES, to update control input by solving a linear equation. In addition, we utilize singular value decomposition, which reduces the size of the linear equation, for the off-line optimization result to speed up on-line calculations, and a barrier function to deal with constraints on the control input. Simulation results show that the proposed algorithm is faster than the conventional C/GMRES.

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© 2012 システム制御情報学会
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