TALK    A Real-Time Algorithm for Nonlinear Model Predictive Control and Its Applications

Date & Time:

Monday, June 25, 2012; 10:30 AM

Abstract:

In this talk, a real-time algorithm for nonlinear model predictive control and its applications will be introduced. The continuation method is combined with an efficient linear solver GMRES to trace the time-dependent optimal solution without iterative searches. Applications of the algorithm include position control of an underactuated hovercraft, route tracking of a ship with redundant actuators, and path generation for an automobile. Automatic code generation by symbolic computation and other related topics will also be introduced.

Speaker:

Prof. Toshiyuki Ohtsuka
Osaka University

Toshiyuki Ohtsuka received his B.Eng., M.Eng. and D.Eng. degrees from Tokyo Metropolitan Institute of Technology, Tokyo, Japan, in 1990, 1992, and 1995, respectively, all in aerospace engineering. From 1995 to 1999, he was an Assistant Professor at the University of Tsukuba, Ibaraki, Japan. In 1999, he joined Osaka University, Osaka, Japan, and is currently a Professor in the Department of Systems Innovation at the Graduate School of Engineering Science. His research interests include nonlinear control theory and real-time optimization with applications to mechanical engineering.

MERL Host:

Stefano Di Cairano