Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improved Implementation Algorithm for Continuous-time RHC

연속형 RHC에 대한 개선된 구현 알고리즘

  • 김태신 (인하대학교 전자전기공학부) ;
  • 김창유 (인하대학교 전자전기공학부) ;
  • 이영삼 (인하대학교 전자전기공학부)
  • Published : 2005.09.01
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Abstract

This paper proposes an improved implementation algorithm for the continuous-time receding horizon control (RHC). The proposed algorithm has a feature that it has better control performance than the existing algorithm. Main idea of the proposed algorithm is that we can approximate the original RHC problem better by assuming the predicted input trajectory on the prediction horizon has a continuous form, which is constructed from linear interpolation of finite number of vectors. This, in turn, leads to improved control performance. We derive a predictor such that it takes linear interpolation into account and proposes the method by which we can express the cost exactly. Through simulation study fur an inverted pendulum, we illustrate that the proposed algorithm has the better control performance than the existing one.

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References

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