Constrained nonlinear receding horizon control using artificial potential

Yusuke Kondo, Shunsuke Matoba, Hisakazu Nakamura, Hirokazu Nishitani

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Nonlinear receding horizon control (NRHC) has attracted much attention in recent years. NRHC can implement various constraints; however, the numerical computation frequently become unstable due to such constraints. The algorithm by using a barrier function for inequality constraint was proposed for the problem. However, the control performance with the algorithm is not sufficient. In this paper, we clarify the problem in the RH control with inequality constraints. Then, we propose a constrained NRHC method by using artificial potential for the problem. Finally, we confirm the effectiveness of the proposed control method by computer simulation of the obstacle avoidance of the robot arm.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages207-210
Number of pages4
ISBN (Print)9784907764364
Publication statusPublished - 1 Jan 2010

Publication series

NameProceedings of the SICE Annual Conference

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Keywords

  • Continuation method
  • Obstacle avoidance
  • Receding horizon control
  • Robot arm
  • State constraint

Cite this

Kondo, Y., Matoba, S., Nakamura, H., & Nishitani, H. (2010). Constrained nonlinear receding horizon control using artificial potential. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 207-210). [5602667] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).