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Model predictive control (MPC) is applied … Model predictive control (MPC) is applied to the Caltech ducted fan, a</br>thrust-vectored flight experiment. A real-time trajectory generation software based</br>on spline theory and sequential quadratic programming is used to implement the</br>MPC controllers. Timing issues related to the computation and implementation of</br>repeatedly updated optimal trajectories are discussed. Results show computational</br>speeds greater than 10 Hz, 2.5 times that of the actuator dynamics. The MPC</br>controllers successfully stabilize a step disturbance applied to the ducted fan and</br>compare favorably to LQR methods. fan and
compare favorably to LQR methods. +
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06:19:14, 15 May 2016 +
