A continuation/GMRES method for fast computation of nonlinear receding horizon control (Q1433056): Difference between revisions

The author deals with a numerical algorithm for nonlinear receding horizon control. The original continuous-time problem was first discretized over the horizon, and a two-point boundary-value problem was obtained to determine the sequence of control input for the discretzed problem. The proposed algorithm is demonstrated for a numerical example of a two-link arm whose dynamics is highly nonlinear. Numerical study shows that the proposed algorithm is faster than the conventional algorithms.