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─

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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.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(3), 402-407, 1999-04-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865953
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4694027
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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