DocumentCode
529684
Title
A real-time algorithm for nonlinear receding horizon control of descriptor systems
Author
Marutani, Jun ; Ohtsuka, Toshiyuki
Author_Institution
Grad. Sch. of Eng. Sci., Osaka Univ., Toyonaka, Japan
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
219
Lastpage
222
Abstract
In this paper, we propose a real-time algorithm for nonlinear receding horizon control of descriptor systems using the continuation/GMRES (C/GMRES) method and multiple shooting. The continuation method is combined with a Krylov subspace method, GMRES, to update unknown quantities by solving a linear equation. The proposed algorithm can deal with descriptor systems that cannot be dealt with by the conventional C/GMRES algorithm. We apply the proposed method to a parking problem of a four-wheel vehicle.
Keywords
infinite horizon; iterative methods; nonlinear control systems; C/GMRES algorithm; C/GMRES method; Krylov subspace method; continuation/GMRES method; descriptor systems; linear equation; multiple shooting; nonlinear receding horizon control; real-time algorithm; Approximation methods; Equations; Jacobian matrices; Mathematical model; Optimal control; Real time systems; Vehicles; descriptor systems; nonlinear systems; receding horizon control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5603045
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