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Analysis of input-output characteristics of boundary value linear systems
Yoshiki Kagitani,Naoyuki Hara,Keiji Konishi 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper considers an eigenvalue problem of boundary value systems. A method for calculating the eigenvalues and eigenvectors is derived. The method is applied to an inverted mobile robot and its basic properties are investigated by simulation and experiment.
Parallel Model Predictive Control for Constrained Linear Systems
Naoyuki Hara,Yoshiki Kagitani,Keiji Konishi 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper considers a parallel model predictive control (MPC) for input constrained linear systems. A dual of an optimization problem in MPC is decomposed into sub-problems, which can be solved in parallel. The proposed parallel MPC is demonstrated in numerical simulation.