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A Real-Time Algorithm for Constrained Nonlinear Receding Horizon Control Based on Off-Line Singular Value Decomposition
| Content Provider | Semantic Scholar |
|---|---|
| Author | Akayama, Keita Ohtsuka, Toshiyuki |
| Copyright Year | 2012 |
| 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. |
| Starting Page | 126 |
| Ending Page | 133 |
| Page Count | 8 |
| File Format | PDF HTM / HTML |
| DOI | 10.5687/iscie.25.126 |
| Volume Number | 25 |
| Alternate Webpage(s) | https://www.jstage.jst.go.jp/article/iscie/25/5/25_126/_pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
