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DTSTAMP:20191204T102931
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SUMMARY:Vortrag von Prof. Toshiyuki Ohtsuka
DESCRIPTION:Prof. Toshiyuki Ohtsuka \nDepartment of Systems Science \nKyoto University \nKyoto, Japan  \nFreitag 06.12.2019 14:00\nIST-Seminar-Room V9.2.255 - Pfaffenwaldring 9 - Campus Stuttgart-Vaihingen  \nAbstract\nIn this talk, a real-time algorithm of nonlinear model predictive control (NMPC) is introduced\nfor switched systems with state-dependent switches. The algorithm consists of two parts: 1) the\nlocal optimization of the control input and switching instants by solving the two-point\nboundary-value problem (TPBVP) for the whole horizon under a given switching sequence, and 2) the\ndetection of an additional switch and the reconstruction of the solution taking into account the\nadditional switch. We demonstrate the effectiveness of the proposed method through numerical\nsimulations of a compass-like biped walking robot, which contains state-dependent switches and\nstate jumps.\nBiographical Information\nToshiyuki Ohtsuka received his D.Eng. from Tokyo Metropolitan Institute of Technology, Japan, in\n1995. From 1995 to 1999, he worked as an Assistant Professor at the University of Tsukuba. In 1999,\nhe joined Osaka University, and he was a Professor at the Graduate School of Engineering Science\nfrom 2007 to 2013. In 2013, he joined Kyoto University as a Professor at the Graduate School of\nInformatics. His research interests include nonlinear control theory and real-time optimization\nwith applications to mechanical systems. He has authored two books on nonlinear optimal control,\nand he has been awarded several academic awards including the Pioneer Award and the Kimura Award\nfrom the Control Division of the SICE (Society of Instrument and Control Engineers).
DTSTART;TZID=Europe/Berlin;VALUE=DATE:20191206
URL;VALUE=URI:https://www.ist.uni-stuttgart.de/de/veranstaltungen/Vortrag-von-Prof.-Toshiyuki-Ohtsuka/
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