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.
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Arias, E., Hernández, V. (2005). Numerical Integration of the Differential Riccati Equation: A High Performance Computing Approach. In: Daydé, M., Dongarra, J., Hernández, V., Palma, J.M.L.M. (eds) High Performance Computing for Computational Science - VECPAR 2004. VECPAR 2004. Lecture Notes in Computer Science, vol 3402. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11403937_50
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DOI: https://doi.org/10.1007/11403937_50
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-25424-9
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