イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	英語
発行・発表の年月	2020/01
形態種別	学術雑誌
査読	査読あり
標題	Real-Time Model Predictive Control of Rigid Body Motion via Discretization Using the Cayley Map
執筆形態	共著(筆頭者以外)
掲載誌名	IEEE Access
掲載区分	国外
出版社・発行元	The Institute of Electrical and Electronics Engineers (IEEE)
巻・号・頁	8,pp.17149-17159
総ページ数	11
著者・共著者	Yuichi Tadokoro, Yuki Taya, Tatsuya Ibuki, Mitsuji Sampei
概要	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.