| Budget Amount *help |
¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2014: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
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| Outline of Final Research Achievements |
Model predictive control (MPC) is an optimal control method which realizes optimized motion with satisfaction of constraints, while the computational cost has been challenging issue.
In this study, we applied nonlinear transformation of input and state, prevention of interrupt on optimization and reduction of order by incorporating the constraints into the stage cost to achieve the following results: (a) tracking control for four-wheel omnidirectional robots with prevention of switching and saturation of steering, and (b) obstacle avoidance and parking control of front steering vehicles.
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