A nonlinear MPC based on application of a sequential distributed accelerated gradient method to the continuation method
A nonlinear MPC based on application of a sequential distributed accelerated gradient method to the continuation method
复制标题
基于顺序分布加速梯度法在连续法中应用的非线性MPC
DOI：
10.1109/ascc.2015.7244646
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
M. Yamakita
中科院分区：
文献类型：
--
作者：
Hiroyuki Oyama;M. Yamakita
C/GRES方法是求解非线性模型预测控制（MPC）最优控制问题的一种有效算法。当我们应用C/GMRES方法时，我们通常假设系统模型的动力学被解析地表示为方程，然而实际的模型有时包含映射并且它们的动力学仅被数值地提供。在本文中，我们提出了一个非线性MPC算法，这类系统的应用顺序分布加速梯度方法的连续方法，其中使用的C/GMRES方法。
The C/GRES method is known as an effective algorithm for numerical solution of optimal control problem in nonlinear model predictive control (MPC). When we apply the C/GMRES method, we usually assume that dynamics of the system model is expressed as equations analytically, however practical models sometimes contain maps and the dynamics of them is provided only numerically. In this paper, we propose a nonlinear MPC algorithm for such systems by applying a sequential distributed accelerated gradient method to the continuation method which is used in C/GMRES method.