実時間最適化による制御配分問題の一解法と運動制御への応用について

抄録

This paper proposes a control allocation method for the motion control in which the number of manipulated variables is one more than control degree of freedom. Proposed method is formulated as an optimization problem including some of Quadratic Programming sub-problems (QPs), and can calculate optimal allocation in real-time. Furthermore, the real-time performance is improved by the Parallel Quadratic Programming (PQP) method. The effect of the proposed method is verified by numerical simulations in terms of control response and calculation time.