Title :
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
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;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912861
