Applied receding horizon control of the Caltech Ducted Fan
Open Access
- 1 January 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5, 3735-3740 vol.5
- https://doi.org/10.1109/acc.2002.1024508
Abstract
This paper details the application of a constrained receding horizon control strategy to an indoor vectored-thrust flight experiment known as the Caltech Ducted Fan. The strategy is used to stabilize the experiment about one operating point, and step response and disturbance rejection are examined with different configurations and in comparison to a gain-scheduled LQR controller. Issues related to non-zero computation times, choice of horizon length and terminal cost are discussed.Keywords
This publication has 7 references indexed in Scilit:
- On the stability of unconstrained receding horizon control with a general terminal costPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A testbed for nonlinear flight control techniques: the Caltech ducted fanPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A new computational approach to real-time trajectory generation for constrained mechanical systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Unconstrained receding-horizon control of nonlinear systemsIEEE Transactions on Automatic Control, 2001
- Trajectory generation for a UAV in urban terrain, using nonlinear MPCPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- Constrained model predictive control: Stability and optimalityAutomatica, 2000
- A Lie-Backlund approach to equivalence and flatness of nonlinear systemsIEEE Transactions on Automatic Control, 1999