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 language | English (US) |
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Title of host publication | Proceedings in Applied Mathematics and Mechanics |
Publisher | Wiley-VCH Verlag |
Pages | 949-952 |
Number of pages | 4 |
Volume | 16 |
ISBN (Electronic) | 1617-7061 |
State | Published - 2016 |