An extension of nonlinear receding horizon control for switched system with state jump

Author

Onodera, Yasuo ; Yamakita, Masaki

Author_Institution

Dept. of Mech. & Control Syst., Tokyo Inst. of Technol., Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

984

Lastpage

989

Abstract

In this paper, an extension of nonlinear receding horizon control (RHC) or model predictive control (MFC) for switched systems with state discontinuity is proposed, and it is applied for landing control using a simplified humanoid model. The proposed control method is based on continuation method and GMRES method which can be applied online to mechanical systems- The validity of the method is demonstrated by numerical simulations.

Keywords

humanoid robots; infinite horizon; motion control; nonlinear control systems; predictive control; time-varying systems; humanoid model; landing control; model predictive control; nonlinear receding horizon control; online optimization; state discontinuity; state jump; switched system; Control system synthesis; Control systems; Humanoid robots; Nonlinear control systems; Numerical simulation; Open loop systems; Optimal control; Predictive control; Predictive models; Switched systems; Model Predictive Control; Nonlinear Receding Horizon Control; Online Optimization; State Jump; Switched system;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545571

Filename

1545571