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In recent years, much concern has been raised about automatic parking systems for passenger vehicles. However, most of the researches are based on kinematic model, where the lateral and yaw dynamics is not taken into account. This paper proposes a real-time optimization approach to the parallel-parking control problem, focusing on the lateral and yaw dynamics. It should be noted that the parallel...
Some convergence properties of the real-time calculation method for nonlinear optimal control problems are proved. We adopt the so-called 'algorithmic control' as one of the real-time optimization methods, which is based on the iterative algorithms for obtaining the numerical solutions. In this paper, we prove that either the necessary condition of optimality is satisfied or the value of the performance...
A convergence property on the method for real-time calculation of nonlinear optimal control problems is proved. We adopt the so-called 'algorithmic control' as one of the real-time optimization methods, which is based on the iterative algorithms for obtaining the numerical solutions. In this paper, we prove that the value of the performance index is improved in the design process, if the optimal solutions...
When it comes to the real-time optimization of nonlinear control systems, model predictive control (MPC) and state-dependent Riccati equation (SDRE) methods are known to be effective and reliable. In this paper, we propose a new type of real-time control method for constrained nonlinear systems and demonstrate by some numerical simulations that the proposed method is also effective and reliable. In...
A new method for real-time calculation of constrained nonlinear optimal control problems is proposed. The proposed method is based on the iterative algorithms for obtaining the numerical solutions of optimal control problems. In this paper, we adopt the Riccati-equation based algorithm, one of the iterative algorithms, and demonstrate the proposed 'algorithmic controller' is applicable to the swing-up...
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