Low-Infrastructure Real-Time Embedded Control via Variational Integrators

Jarvis Alan Schultz, Todd David Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a discrete time receding horizon control scheme that leverages the numerical properties of a variational integrator to facilitate real-time control generation on an embedded system. The variational integrator employed is well-suited to classical estimation and control algorithms, e.g. LQR, extended Kalman filters, and particle filters. The structure-preserving properties of this variational integrator lead to increased performance of estimation and control routines, especially in low-bandwidth applications. Several experimental examples are presented that illustrate the features of this receding horizon control scheme when leveraging the desirable numerical properties of the variational integrator.
Original languageEnglish (US)
Title of host publicationProceedings in Applied Mathematics and Mechanics
PublisherWiley-VCH Verlag
Pages949-952
Number of pages4
Volume16
ISBN (Electronic)1617-7061
StatePublished - 2016

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