An optimized Linear Model Predictive Control solver for online walking motion generation
An optimized Linear Model Predictive Control solver for online walking motion generation
复制标题
用于在线行走运动生成的优化线性模型预测控制求解器
DOI：
10.1109/robot.2009.5152380
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
H. Diedam
中科院分区：
文献类型：
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作者：
Dimitar Dimitrov;Pierre;O. Stasse;Hans Joachim Ferreau;H. Diedam
这篇文章讨论了一个二次规划的快速解决方案，基本的线性模型预测控制方案，产生步行运动。我们引入了一个算法，这是针对这个问题的特殊要求，因此能够有效地解决它。不同方面的算法进行检查，其计算复杂性，并与现有的最先进的求解器的数值比较。这里提出的方法，以一种简单的方式扩展到其他一般问题。
This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm which is tailored to the particular requirements of this problem, and therefore able to solve it efficiently. Different aspects of the algorithm are examined, its computational complexity is presented, and a numerical comparison with an existing state of the art solver is made. The approach presented here, extends to other general problems in a straightforward way.