Fast NMPC of a chain of masses connected by springs

Author

Wirsching, Leonard ; Bock, Hans Georg ; Diehl, Moritz

Author_Institution

Interdisciplinary Center for Sci. Comput., Heidelberg Univ.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

591

Lastpage

596

Abstract

Aim of this study is to compare two variants of the real-time iteration (RTI) scheme in nonlinear model predictive control (NMPC): the standard RTI scheme as described in M. Deihl (2001) and a new adjoint based RTI scheme as described in H. G. Bock et al. (2004) and L. Wirsching (2006). The authors compare their performance on returning a chain of spring connected masses to its steady state, after a strong perturbation has been exerted to the chain. The adjoint based RTI shows to be about one order of magnitude faster

Keywords

control system synthesis; iterative methods; nonlinear control systems; predictive control; adjoint based RTI scheme; nonlinear model predictive control; real-time iteration scheme; spring connected masses; steady state; Force control; Force feedback; Predictive control; Predictive models; Quadratic programming; Sampling methods; Springs; Stability; Steady-state; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776712

Filename

4776712