Controller Synthesis for Constrained Flight Systems via Receding Horizon Optimization

Richard M. Murray, William B. Dunbar, Reza Olfati Saber, Lars B. Cremean
2nd AIAA "Unmanned Unlimited" Systems, Technologies, and Operations: Aerospace, Land, and Sea Conference and Workshop & Exhibit

Receding horizon control allows a blending of navigation and control functions at the inner and outer loop levels and significantly enhances the ability of the control system to react to complex dynamic and environmental constraints. In this paper, we explore some of the limits of receding horizon control, including the extent to which traditional control specifications can be cast as RHC problem specifications. Simulation results for a planar flight vehicle with representative flight dynamics illustrate the main features of the proposed approach.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/mdoc03-aiaa.pdf
• Project(s): Template:HTDB funding::DARPA/SEC