| Time: | December 6, 2019 |
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Prof. Toshiyuki Ohtsuka
Department of Systems Science
Kyoto University
Kyoto, Japan
Friday 2019-12-06 14:00
IST-Seminar-Room V9.2.255 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen
Abstract
In this talk, a real-time algorithm of nonlinear model predictive control (NMPC) is introduced for switched systems with state-dependent switches. The algorithm consists of two parts: 1) the local optimization of the control input and switching instants by solving the two-point boundary-value problem (TPBVP) for the whole horizon under a given switching sequence, and 2) the detection of an additional switch and the reconstruction of the solution taking into account the additional switch. We demonstrate the effectiveness of the proposed method through numerical simulations of a compass-like biped walking robot, which contains state-dependent switches and state jumps.
Biographical Information
Toshiyuki Ohtsuka received his D.Eng. from Tokyo Metropolitan Institute of Technology, Japan, in 1995. From 1995 to 1999, he worked as an Assistant Professor at the University of Tsukuba. In 1999, he joined Osaka University, and he was a Professor at the Graduate School of Engineering Science from 2007 to 2013. In 2013, he joined Kyoto University as a Professor at the Graduate School of Informatics. His research interests include nonlinear control theory and real-time optimization with applications to mechanical systems. He has authored two books on nonlinear optimal control, and he has been awarded several academic awards including the Pioneer Award and the Kimura Award from the Control Division of the SICE (Society of Instrument and Control Engineers).