Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545571
