Nonlinear receding horizon control of an underactuated hovercraft with a multiple-shooting-based algorithm

被引:0
|
作者
Shimizu, Yuichi [1 ]
Ohtsuka, Toshiyuki [1 ]
Diehl, Moritz [2 ]
机构
[1] Osaka Univ, Grad Sch Engn, Dept Mech Engn, 2-1 Yamadaoka, Suita, Osaka, Japan
[2] Heidelberg Univ, Interdisciplinary Ctr Scientif Comp, Heidelberg, Germany
关键词
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中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we propose a real-time algorithm for nonlinear receding horizon control using multiple shooting and the continuation/GMRES method. The multiple shooting is expected to improve numerical accuracy and stability in calculations for solving a boundary value problem. The continuation method is combined with a Krylov-subspace method, GMRES, to update unknown quantities by solving a linear equation. At the same time, we apply condensing, which reduces the size of the linear equation, to speed up numerical calculations. The proposed algorithm is applied to an underactuated hovercraft. Computational results show that the proposed algorithm is superior to a conventional one in the numerical accuracy and stability.
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页码:332 / +
页数:2
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