A Real-Time Algorithm for Constrained Nonlinear Receding Horizon Control Based on Off-Line Singular Value Decomposition

• Akayama Keita

  Graduate School of Engineering Science, Osaka University

• Ohtsuka Toshiyuki

  Graduate School of Engineering Science, Osaka University

Bibliographic Information

Other Title

• 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
• オフライン デ ノ トクイチ ブンカイ ニ モトズク コウソク ジョウケン ツキ ヒセンケイ Receding Horizon セイギョ ノ ジツ ジカン アルゴリズム

Abstract

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. <br>

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 25 (5), 126-133, 2012

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• nonlinear system
• receding horizon control
• singular value decomposition
• barrier function

Details

• CRID: 1390282680141879936
• NII Article ID: 130002148481
• NII Article ID: 10031002998
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.25.126
• BIBCODE: 2012TISCI..25..126A
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 023635058
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I023635058
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed