An asymptotically optimal NMPC core for multi degrees of freedom rigid bodies

Chyon Hae Kim, Shimon Sugawara, Shigeki Sugano

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    We address the applicability of nonlinear model predictive control (NMPC) to rigid bodies with multi degrees of freedom. These systems have complicated nonlinear motion equations that cause large computational time for NMPC.We propose an asymptotically optimal NMPC core based on the uniform state sampling concept. We examined the optimality and the computational cost of the proposed core using double and triple inverted pendulum models. The result showed that the proposed core calculates sub-time-optimal motions with 100 and 1,000 times faster than the competing cores with maintaining the same optimality. We applied the proposed core to a sixth inverted pendulum model. The result showed that the proposed NMPC core is able to calculate a sub-time-optimal motion of the model.

    Original languageEnglish
    Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
    Pages207-212
    Number of pages6
    Volume4
    EditionPART 1
    DOIs
    Publication statusPublished - 2012
    Event4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12 - Noordwijkerhout
    Duration: 2012 Aug 232012 Aug 27

    Other

    Other4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12
    CityNoordwijkerhout
    Period12/8/2312/8/27

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    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Kim, C. H., Sugawara, S., & Sugano, S. (2012). An asymptotically optimal NMPC core for multi degrees of freedom rigid bodies. In IFAC Proceedings Volumes (IFAC-PapersOnline) (PART 1 ed., Vol. 4, pp. 207-212) https://doi.org/10.3182/20120823-5-NL-3013.00031