非線形離散時間システムに対する分割制約モデル予測制御

概要

論文の詳細を見る
Receding horizon control (RHC) has been paid much attention to for its convenience in design feedback controllers. On the other hand, it also brings many challenges to software and hardware, since an optimization problem has to be solved every specified time. In complex systems, the computation time of each problem increases exponentially with the length of its horizon. In this paper, we consider nonlinear discrete-time systems. To reduce the computation time, we propose a new method named division constraint-based receding horizon control (DCRHC), which decomposes each optimization problem into several subproblems with shorter horizons which can be solved in a shorter time. A simulation of a quadrotor helicopter system is demonstrated to show the effectiveness of DCRHC.
一般社団法人電子情報通信学会の論文
2014-01-23