Real-Time Nonlinear Model Predictive Control of Robots Using a Graphics Processing Unit

In past robotics applications, Model Predictive Control (MPC) has often been limited to linear models and relatively short time horizons. In recent years however, research in optimization, optimal control, and simulation has enabled some forms of nonlinear model predictive control which find locally...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 5; H. 2; S. 1467 - 1474
Hauptverfasser:	Hyatt, Phillip, Killpack, Marc D.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.04.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Algorithms Complex systems Computer simulation control architectures and programming deep learning in robotics and automation model learning for control Nonlinear control Optimal control Optimization Optimization and optimal control Predictive control Quality control Real time Robot control Robotics
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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