A continuation/GMRES method for fast computation of nonlinear receding horizon control

By Toshiyuki Ohtsuka. at - Automatisierungstechnik, 2004

702 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Control and Systems Engineering, Numerical Analysis

View Paper: https://www.semanticscholar.org/paper/16409f5277cfe2bcc323b7de36b2fddcfcc837d8

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In Aerospace Engineering

In Control and Systems Engineering

In Numerical Analysis

Citations in the corpus

Model Predictive Control of Vehicles on Urban Roads for Improved Fuel Economy (2013, methodology): “C/GMRES involves several approximations, and the error ‖F‖ is not necessarily expected to converge to zero due to Algorithm 1 Vehicle Control Using C/GMRES Method 1) Initialize δ = t , T , M = T/δ, n := 0; measure x(t), and q(t); Initialize the control input {unδ(t ′)}t ′=(n+M−1)δ t ′=nδ analyticall”
Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation (2009, methodology): “The Continuation/GMRES Method of Ohtsuka [45]: Similar to the Newton-Type controller, the Continuation/GMRES method performs only one Newton type iteration in each sampling time, and is based on a sequential formulation.”
An auto-generated real-time iteration algorithm for nonlinear MPC in the microsecond range (2011, methodology): “The idea to use code generation for NMPC has been introduced by Ohtsuka in form of the tool AutoGenU [23].”
The advanced-step NMPC controller: Optimality, stability and robustness (2009, background): “Different variants of this are based on neighboring extremals (Bryson & Ho, 1975; Ohtsuka, 1999; Pesch, 1989) and NLP sensitivity concepts (Büskens & Maurer, 2001a,b; Kadam&Marquardt, 2004; Zavala, Laird, & Biegler, 2008).”
Nonlinear receding horizon control of an underactuated hovercraft with a multiple-shooting-based algorithm (2003, methodology): “In this section, we propose a new formulation of C/GMRES using multiple shooting (Bock 1984, Diehl 2002) to improve the numerical accuracy and stability.”
Ecological Vehicle Control on Roads With Up-Down Slopes (2011, methodology): “Detailed description on the C/GMRES method can be found in [20].”
From linear to nonlinear MPC: bridging the gap via the real-time iteration (2020, methodology): “zmario@chalmers.se One of the most successful and largely used approaches to fast NMPC is arguably based on the real-time iteration (RTI) (Diehl, Bock, & Schlöder, 2005) and its predecessors (Li & Biegler, 1989; Ohtsuka, 2004).”