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Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

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Fast Motions in Biomechanics and Robotics

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 340))

Abstract

In this overview paper, we first survey numerical approaches to solve nonlinear optimal control problems, and second, we present our most recent algorithmic developments for real-time optimization in nonlinear model predictive control.

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Authors and Affiliations

  1. Interdisciplinary Center for Scientific Computing, University of Heidelberg, Im Neuenheimer Feld 368, Heidelberg, D-69120, Germany

    M. Diehl, H.G. Bock & H. Diedam

  2. INRIA Rhône-Alpes, Projet BIPOP, St Ismier Cedex, 38334, France

    P.-B. Wieber

Authors
  1. M. Diehl
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  2. H.G. Bock
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  3. H. Diedam
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  4. P.-B. Wieber
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Editor information

Editors and Affiliations

  1. Interdisciplinary Center for Scientific Computing - INF 368, University of Heidelberg, 69120, Heidelberg, Germany

    Moritz Diehl  & Katja Mombaur  & 

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© 2006 Springer

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Diehl, M., Bock, H., Diedam, H., Wieber, PB. (2006). Fast Direct Multiple Shooting Algorithms for Optimal Robot Control. In: Diehl, M., Mombaur, K. (eds) Fast Motions in Biomechanics and Robotics. Lecture Notes in Control and Information Sciences, vol 340. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-36119-0_4

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  • DOI: https://doi.org/10.1007/978-3-540-36119-0_4

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-36118-3

  • Online ISBN: 978-3-540-36119-0

  • eBook Packages: EngineeringEngineering (R0)

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