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

Chyon Hae Kim*, Shimon Sugawara, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルNMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program
ページ207-212
ページ数6
PART 1
DOI
出版ステータスPublished - 2012 10 9
イベント4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12 - Noordwijkerhout, Netherlands
継続期間: 2012 8 232012 8 27

出版物シリーズ

名前IFAC Proceedings Volumes (IFAC-PapersOnline)
番号PART 1
4
ISSN(印刷版)1474-6670

Conference

Conference4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12
国/地域Netherlands
CityNoordwijkerhout
Period12/8/2312/8/27

ASJC Scopus subject areas

  • 制御およびシステム工学

フィンガープリント

「An asymptotically optimal NMPC core for multi degrees of freedom rigid bodies」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル