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ファイル | 記述 | サイズ | フォーマット | |
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j.automatica.2019.108560.pdf | 528.05 kB | Adobe PDF | 見る/開く |
タイトル: | A parallel Newton-type method for nonlinear model predictive control |
著者: | Deng, Haoyang Ohtsuka, Toshiyuki https://orcid.org/0000-0003-3554-8933 (unconfirmed) |
著者名の別形: | 鄧, 昊洋 大塚, 敏之 |
キーワード: | Nonlinear model predictive control Newton-type Parallel algorithm |
発行日: | Nov-2019 |
出版者: | Elsevier BV |
誌名: | Automatica |
巻: | 109 |
論文番号: | 108560 |
抄録: | A parallel Newton-type method for nonlinear model predictive control is presented that exploits the particular structure of the associated discrete-time Euler–Lagrange equations obtained by utilizing an explicit discretization method in the reverse-time direction. These equations are approximately decoupled into single-step subproblems along the prediction horizon for parallelization. The coupling variable of each subproblem is approximated to its optimal value using a simple, efficient, and effective method at each iteration. The rate of convergence of the proposed method is proved to be superlinear under mild conditions. Numerical simulation of using the proposed method to control a quadrotor showed that the proposed method is highly parallelizable and converges in only a few iterations, even to a high accuracy. Comparison of the proposed method’s performance with that of several state-of-the-art methods showed that it is faster. |
記述: | 並列計算を活用した実時間最適制御の高速アルゴリズムを開発. 京都大学プレスリリース. 2019-09-11. |
著作権等: | © 2019 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/). |
URI: | http://hdl.handle.net/2433/243949 |
DOI(出版社版): | 10.1016/j.automatica.2019.108560 |
関連リンク: | https://www.kyoto-u.ac.jp/ja/research-news/2019-09-11-3 |
出現コレクション: | 学術雑誌掲載論文等 |
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