MODEL PREDICTIVE CONTROL METHOD AND MODEL PREDICTIVE CONTROL APPARATUS

Disclosed is a model predictive control method. The model predictive control method comprises the following steps of: receiving a system dynamics model for a character; performing numerical differentiation on the input system dynamics model using at least one of an interpolation technique of differe...

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Bibliographische Detailangaben
Hauptverfasser:	EOM, HAE GWANG, NOH JUN YONG, SHIN, JOSEPH S, HAN, DA SEONG
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	Disclosed is a model predictive control method. The model predictive control method comprises the following steps of: receiving a system dynamics model for a character; performing numerical differentiation on the input system dynamics model using at least one of an interpolation technique of differential information, a reuse technique of physical quantities, and a contact-space inverse mass matrix (CIMM) technique; and outputting differential information for the system dynamics model. The present invention intends to provide a model predictive control method and a model predictive control apparatus for performing numerical differentiation to improve speed of numerical differentiation for a system dynamics model. 모델 예측 제어방법이 개시된다. 모델 예측 제어 방법은, 캐릭터에 대한 시스템 동역학 모델을 입력받는 단계, 미분 정보의 보간 기법, 물리량의 재사용 기법 및 접촉 공간 역질량 행렬(contact-space inverse mass matrix, CIMM) 기법 중 적어도 하나의 기법을 이용하여, 입력된 시스템 동역학 모델에 대한 수치적 미분을 수행하는 단계 및 시스템 동역학 모델에 대한 미분 정보를 출력하는 단계를 포함한다.