Continuation/GMRES method for fast algorithm of nonlinear receding horizon control

Author

Ohtsuka, Toshiyuki

Author_Institution

Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan

Volume

1

fYear

2000

fDate

2000

Firstpage

766

Abstract

Proposes a fast algorithm for nonlinear receding horizon control. The control input is updated by a differential equation to trace the solution of an associated two-point boundary-value problem. A linear equation involved in the differential equation is solved by the generalized minimum residual (GMRES) method, one of the Krylov subspace methods, with Jacobians approximated by forward differences. The error in the entire algorithm is analyzed and is shown to be bounded under mild conditions. The proposed algorithm is applied to a two-link arm whose dynamics is highly nonlinear

Keywords

boundary-value problems; differential equations; iterative methods; manipulator dynamics; nonlinear control systems; Jacobians; Krylov subspace methods; generalized minimum residual method; linear equation; nonlinear receding horizon control; two-link arm; two-point boundary-value problem; Algorithm design and analysis; Control systems; Differential equations; Jacobian matrices; Mechanical systems; Nonlinear control systems; Nonlinear equations; Optimal control; Performance analysis; Sampling methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2000. Proceedings of the 39th IEEE Conference on

Conference_Location

Sydney, NSW

ISSN

0191-2216

Print_ISBN

0-7803-6638-7

Type

conf

DOI

10.1109/CDC.2000.912861

Filename

912861