2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.984-989
2005
Details
- Autor(en) / Beteiligte
- Titel
- An extension of nonlinear receding horizon control for switched system with state jump
- Ist Teil von
- 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, p.984-989
- Ort / Verlag
- IEEE
- Erscheinungsjahr
- 2005
- Link zum Volltext
- Quelle
- IEEE Electronic Library (IEL)
- Beschreibungen/Notizen
- 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.
- Sprache
- Englisch
- Identifikatoren
- ISBN: 0780389123, 9780780389120ISSN: 2153-0858eISSN: 2153-0866DOI: 10.1109/IROS.2005.1545571Titel-ID: cdi_ieee_primary_1545571
- Format
- –
- Schlagworte
- Control system synthesis, Control systems, Humanoid robots, Model Predictive Control, Nonlinear control systems, Nonlinear Receding Horizon Control, Numerical simulation, Online Optimization, Open loop systems, Optimal control, Predictive control, Predictive models, State Jump, Switched system, Switched systems