An extension of nonlinear receding horizon control for switched system with state jump

An extension of nonlinear receding horizon control for switched system with state jump
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状态跳跃切换系统非线性后退视界控制的推广

DOI：
10.1109/iros.2005.1545571
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发表时间：
2005
期刊：
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
通讯作者：
M. Yamakita
M. Yamakita
中科院分区：
--
文献类型：
--
作者：
Y. Onodera;M. Yamakita

文献摘要

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针对状态不连续切换系统，提出了一种扩展的非线性滚动时域控制(RHC)或模型预测控制(MFC)，并将其应用于基于简化仿人模型的着陆控制。所提出的控制方法是基于连续法和GMRES方法的，可以在线应用于机械系统，通过数值仿真验证了该方法的有效性。
In this paper, an extension of nonlinear receding horizon control (RHC) or model predictive control (MFC) for switched systems with state discontinuity is proposed, and it is applied for landing control using a simplified humanoid model. The proposed control method is based on continuation method and GMRES method which can be applied online to mechanical systems- The validity of the method is demonstrated by numerical simulations.