Control system for construction machine, construction machine, and control method for construction machine

A control system for a construction machine including working equipment, the control system comprising:

• a design surface acquisition unit configured to acquire a design surface that indicates a target shape of a construction target;
• a target value generation unit configured to generate a target value of an amount of control of the working equipment;
• a prediction unit configured to calculate a predicted value of the amount of control of the working equipment based on the target value and a prediction model for the working equipment, and calculate an amount of drive to control the working equipment based on the predicted value and the design surface;
• a command unit configured to output a control command for control of the working equipment based on the amount of drive;
• and
• a constraint condition calculation unit configured to calculate a first constraint condition relating to performance of the construction machine and a second constraint condition relating to a position of the working equipment, wherein
• the prediction unit calculates the amount of drive so as to satisfy the first constraint condition and the second constraint condition, and
• the prediction unit calculates the amount of drive so as to minimize a value of an evaluation function defined by the target value and the predicted value of the amount of control, and
• the first constraint condition includes an angle, angular speed, angular acceleration, and flow rate of hydraulic oil, of the working equipment, and
• the second constraint condition indicates limitation on a position of a bucket.