Einladung zum Vortrag im Kolloquium Technische Kybernetik

Real-Time Optimization Algorithms for
Nonlinear Model Predictive Control

Prof. Toshiyuki Ohtsuka

Department of Computer-Controlled Mechanical Systems
Graduate School of Engineering
Osaka University
Osaka, Japan

    Zeit: Dienstag · 12. 4. 2005 · 16:00 Uhr
    Ort: Raum 9.31 · Pfaffenwaldring 9 · Campus Stuttgart-Vaihingen

Abstract

In this talk, a fast numerical algorithm for nonlinear model predictive control is introduced. To solve a nonlinear optimal control problem at each sampling time, two devices are employed, namely, the continuation method and the generalized minimum residual (GMRES) method. The continuation method leads to a differential equation to trace the time-dependent optimal solution without iterative searches, and a linear equation involved in the differential equation is solved efficiently by GMRES. Application examples of the algorithm include position control of an underactuated model hovercraft, route tracking of a ship and path generation for an automobile.