arXiv
Open Access
2023
Entropic Model Predictive Optimal Transport for Underactuated Linear Systems
Kaito Ito
Kenji Kashima
Abstrak
This letter investigates dynamical optimal transport of underactuated linear systems over an infinite time horizon. In our previous work, we proposed to integrate model predictive control and the celebrated Sinkhorn algorithm to perform efficient dynamical transport of agents. However, the proposed method requires the invertibility of input matrices, which severely limits its applicability. To resolve this issue, we extend the method to (possibly underactuated) controllable linear systems. In addition, we ensure the convergence properties of the method for general controllable linear systems. The effectiveness of the proposed method is demonstrated by a numerical example.
Penulis (2)
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Kaito Ito
K
Kenji Kashima
Akses Cepat
Informasi Jurnal
- Tahun Terbit
- 2023
- Bahasa
- en
- Sumber Database
- arXiv
- Akses
- Open Access ✓