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
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;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
