Title :
An application of nonlinear receding horizon control to posture control with collisions
Author :
Yamakita, Masaki ; Taura, Ayako ; Onodera, Yasuo
Author_Institution :
Bio-Mimetic Control Res. Center, Institute of Phys. & Chem. Res., Nagoya
Abstract :
In this paper, an extension of nonlinear receding horizon control (RHC) or model predictive control (MPC) for switched systems with state discontinuity is proposed based on continuation method and GMRES method and it is applied for a posture control with a collision. The validity of the method is demonstrated by a numerical simulation and an experiment
Keywords :
nonlinear control systems; predictive control; spatial variables control; time-varying systems; GMRES method; collisions; continuation method; model predictive control; nonlinear receding horizon control; posture control; state discontinuity; switched systems; Chemical technology; Control system synthesis; Control systems; Nonlinear control systems; Numerical simulation; Open loop systems; Optimal control; Predictive control; Predictive models; Switched systems;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511224
