Real-Time Model Predictive Control of Rigid Body Motion via Discretization Using the Cayley Map

Real-Time Model Predictive Control of Rigid Body Motion via Discretization Using the Cayley Map

This paper presents a fast nonlinear model predictive control method for rigid body dynamical systems such as spacecraft or aerial vehicles on the special Euclidean group SE(3). The focus of this research is on the real-time execution of the optimal control on a low-cost embedded computer. The posit...

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Bibliographic Details
Main Authors: Yuichi Tadokoro, Yuki Taya, Tatsuya Ibuki, Mitsuji Sampei
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Optimal control
robot control
nonlinear control systems
special Euclidean group
Online Access:https://ieeexplore.ieee.org/document/8957546/

Internet

https://ieeexplore.ieee.org/document/8957546/

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