Receding Horizon Control を用いた機械的リンク系の最適化計算 ─連続変形法を用いた数値解に関する検討─ Receding Horizon Control Applied to Optimization for Mechanical Link Systems ─Analysis using the Continuation Method─
A well-known difficulty of the non-linear optimal feedback control is that it results in non-linear two-point boundary value problems (TPBVP), which in general, can not be solved analytically. Therefore, exploration of solution algorithms is a key problem to establish a practical technique of non-linear optimal feedback control. Stabilized continuation method is shown to be suitable for real time optimization in non-linear receding horizon state feed-back control which can be applied to various problems in the field of engineering. Once a performance index and a mathematical model are given, optimization yields a feedback law that achieves the best performance in terms of the given performance index. This paper addresses non-linear receding horizon state feedback control law and its application to non-linear mechanical link systems. The contributions of this paper are: (i) outline of receding horizon control law and continuation method, (ii) comparison between receding horizon control and gradient method, and (iii) application to non-linear mechanical link systems.
日本ロボット学会誌 17(3), 402-407, 1999-04-15
The Robotics Society of Japan