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

Nonlinear receding horizon control of an underactuated hovercraft with a multiple-shooting-based algorithm
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DOI：
10.1002/rnc.824
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发表时间：
2003-03
期刊：
2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control
影响因子：
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通讯作者：
Y. Shimizu;T. Ohtsuka;M. Diehl
Y. Shimizu;T. Ohtsuka;M. Diehl
中科院分区：
其他
文献类型：
--
作者：
Y. Shimizu;T. Ohtsuka;M. Diehl

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在本文中，我们提出了一个实时算法的非线性滚动时域控制使用多次射击和连续/GMRES方法。在求解边值问题的计算中，多次打靶有望提高数值精度和稳定性。的延续方法相结合的Krylov子空间方法，GMRES，通过求解线性方程来更新未知量。同时，我们应用凝聚，这减少了线性方程的大小，以加快数值计算。该算法被应用到欠驱动气垫船。计算结果表明，该算法在数值精度和稳定性方面均优于传统算法，具有上级的优点
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