書誌事項
- タイトル別名
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- Receding Horizon Control Applied to Optimization for Mechanical Link Systems. Analysis using the Continuation Method.
- Receding Horizon Control オ モチイタ キカイテキ リンクケイ ノ サイテキカ ケイサン レンゾク ヘンケイホウ オ モチイタ スウチカイ ニ カンスル ケントウ
- —Analysis using the Continuation Method—
- ―連続変形法を用いた数値解に関する検討―
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抄録
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
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (3), 402-407, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726068480
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- NII論文ID
- 10002865953
- 10026068478
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4694027
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可