Title :
Fast NMPC of a chain of masses connected by springs
Author :
Wirsching, Leonard ; Bock, Hans Georg ; Diehl, Moritz
Author_Institution :
Interdisciplinary Center for Sci. Comput., Heidelberg Univ.
Abstract :
Aim of this study is to compare two variants of the real-time iteration (RTI) scheme in nonlinear model predictive control (NMPC): the standard RTI scheme as described in M. Deihl (2001) and a new adjoint based RTI scheme as described in H. G. Bock et al. (2004) and L. Wirsching (2006). The authors compare their performance on returning a chain of spring connected masses to its steady state, after a strong perturbation has been exerted to the chain. The adjoint based RTI shows to be about one order of magnitude faster
Keywords :
control system synthesis; iterative methods; nonlinear control systems; predictive control; adjoint based RTI scheme; nonlinear model predictive control; real-time iteration scheme; spring connected masses; steady state; Force control; Force feedback; Predictive control; Predictive models; Quadratic programming; Sampling methods; Springs; Stability; Steady-state; Testing;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776712
