Nonlinear Receding Horizon Gradient method real-time optimization for robot trajectory generation

Proceedings of the IEEE International Conference on Control Applications

Volumn 2, Issue , 2004, Pages 1615-1620

  Takeuchi, Hiroki ^a  

^a NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY AIST   (Japan)

Author keywords

Continuation Method; Gradient Method; Real Time Optimization; Receding Horizon Control

Indexed keywords

COMPUTATIONAL METHODS; CONVERGENCE OF NUMERICAL METHODS; HAMILTONIANS; LAGRANGE MULTIPLIERS; MATHEMATICAL MODELS; MATRIX ALGEBRA; OPTIMIZATION; PROBLEM SOLVING;

CONTINUATION METHOD; REAL-TIME OPTIMIZATION; RECEDING HORIZON CONTROL; STRUCTURE MODEL;

GRADIENT METHODS;

EID: 17744384570     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. T.Ohtsuka and H.Fujii, Real-Time Optimization Algorithm for Nonlinear Receding -Horizon Control,Automatica,vol.33,no.6,pp.1147-1154,1997
2. th IEEE Conference in Decision and Control, pp.766-771,2000
3. H.Takeuchi, Real Time Optimization for Robot Control using Receding Horizon Control with Equal Constraint, Journal of Robotic Systems, Vol. 20, No. 1, 2003
4. H.Kano, Theory and Optimization of System, corona, p.217, 1987, (Japanese Language)
5. H.Takeuchi, Nonlinear Receding Horizon Gradient Method, Japan Society of Computational Engineering and Science, tranaction of JSCES, vol.5, 2004
6. J.Prims, V.Nevisic, J.Doyle, On Receding Horizon Extensions and Control Lyapunov Functions, ACC Procedings 1998