Numerical Integration of the Differential Riccati Equation: A High Performance Computing Approach

  • Enrique Arias
  • Vicente Hernández
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3402)

Abstract

This paper presents a High Performance Computing Approach (HPC) to the code appeared in [1] called DRESOL, for the Numerical Integration of the Differential Riccati Equation. This equation arises in the application of quadratic optimization for motion control to the feedback control of robotic manipulators. In this paper the main changes carried out in the DRESOL package and the new block oriented subroutines for computing the Sylvester and Lyapunov equations in order to obtain a sequential HPC implementation are described. From this new sequential implementation parallel algorithms for distributed memory platforms have been also carried out.

Keywords

Numerical Methods Parallel Computing 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Enrique Arias
    • 1
  • Vicente Hernández
    • 2
  1. 1.Departamento de InformáticaUniversidad Castilla-La ManchaAlbaceteSpain
  2. 2.Departamento de Sistemas Informátios y ComputaciónUniversidad Politécnica de ValenciaValenciaSpain

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