Title :
Nonlinear receding horizon gradient method- real-time optimization for robot trajectory generation
Author_Institution :
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Abstract :
The proposed method reduces a hardness to treat additional formula manipulation in past receding horizon control. Historically, gradient method had a defect to take long time to converge into optimal solution. This defect can be turned into an advantage by taking different procedure to use gradient. This paper describes how to use gradient at receding horizon control. This method is also effective for a case which the state equation is complicated or large scaled model because the formulation is simple.
Keywords :
gradient methods; nonlinear control systems; optimal control; optimisation; position control; real-time systems; robots; gradient method; nonlinear control; real-time optimization; receding horizon control; robot trajectory generation; state equation; Electrical equipment industry; Equations; Gradient methods; Intelligent robots; Intelligent systems; Numerical models; Optimization methods; Performance analysis; Real time systems; Service robots;
Conference_Titel :
Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on
Print_ISBN :
0-7803-8633-7
DOI :
10.1109/CCA.2004.1387607
