CDS 110b: Receding Horizon Optimal Control
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This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.
Course Materials
- Lecture slides on RHC overview (Wed)
- Lecture notes on RHC analysis (Fri)
- MP3 of Wednesday lecture, 21 Feb 2007
- MP3 of Friday lecture, 23 Feb 2007
- HW #7 (due 29 Feb 07)
References and Further Reading
Online Control Customization via Optimization-Based Control, R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.
Constrained model predictive control: Stability and optimality, D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.
