Real-Time Model Predictive Control of Rigid Body Motion via Discretization Using the Cayley Map Article Swipe
Yuichi Tadokoro
,
Yuki Taya
,
Tatsuya Ibuki
,
Mitsuji Sampei
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/access.2020.2966240
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.1109/access.2020.2966240
This paper presents a fast nonlinear model predictive control method for rigid body dynamical systems such as spacecraft or aerial vehicles on the special Euclidean group SE(3). The focus of this research is on the real-time execution of the optimal control on a low-cost embedded computer. The position and orientation of a rigid body are expressed as a 6-dimensional vector via the Cayley map for SE(3). Based on the representation, the motion can be exactly discretized on the algebra se(3). As a result, coarse sampling intervals can be selected to reduce the number of prediction steps. Furthermore, the recursive discretization technique is applied to effectively reduce the decision variables of the nonlinear optimization problem by eliminating states from them. Simulation results on a Raspberry Pi single-board computer are given to prove that the present model predictive control method is feasible in real time. The effectiveness of the present controller is further verified by an experiment using a fully actuated hexarotor unmanned aerial vehicle.
Related Topics
Concepts
Discretization
Model predictive control
Euclidean group
Computer science
Control theory (sociology)
Nonlinear system
Position (finance)
Rigid body
Representation (politics)
Controller (irrigation)
Artificial intelligence
Mathematics
Control (management)
Political science
Biology
Quantum mechanics
Finance
Physics
Affine transformation
Pure mathematics
Politics
Mathematical analysis
Classical mechanics
Affine space
Agronomy
Law
Economics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2020.2966240
- https://ieeexplore.ieee.org/ielx7/6287639/8948470/08957546.pdf
- OA Status
- gold
- Cited By
- 4
- References
- 39
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2999527435
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2999527435Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/access.2020.2966240Digital Object Identifier
- Title
-
Real-Time Model Predictive Control of Rigid Body Motion via Discretization Using the Cayley MapWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-01-01Full publication date if available
- Authors
-
Yuichi Tadokoro, Yuki Taya, Tatsuya Ibuki, Mitsuji SampeiList of authors in order
- Landing page
-
https://doi.org/10.1109/access.2020.2966240Publisher landing page
- PDF URL
-
https://ieeexplore.ieee.org/ielx7/6287639/8948470/08957546.pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://ieeexplore.ieee.org/ielx7/6287639/8948470/08957546.pdfDirect OA link when available
- Concepts
-
Discretization, Model predictive control, Euclidean group, Computer science, Control theory (sociology), Nonlinear system, Position (finance), Rigid body, Representation (politics), Controller (irrigation), Artificial intelligence, Mathematics, Control (management), Political science, Biology, Quantum mechanics, Finance, Physics, Affine transformation, Pure mathematics, Politics, Mathematical analysis, Classical mechanics, Affine space, Agronomy, Law, EconomicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
4Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2021: 2, 2020: 1Per-year citation counts (last 5 years)
- References (count)
-
39Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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