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In this chapter, we present a framework fo … In this chapter, we present a framework for online control customization that</br>makes use of finite-horizon, optimal control combined with real-time</br>trajectory generation and optimization. The results are based on a novel</br>formulation of receding-horizon optimal control that replaces the traditional</br>terminal constraints with a control Lyapunov function-based terminal cost.</br>This formulation leads to reduced computational requirements and allows proof</br>of stability under a variety of realistic assumptions on computation. By</br>combining these theoretical advances with advances in computational power for</br>real-time, embedded systems, we demonstrate the efficacy of online control</br>customization via optimization-based control. The results are demonstrated</br>using a nonlinear, flight control experiment at Caltech.ear, flight control experiment at Caltech. +
In <i>Software-Enabled Control: Information Technology for Dynamical Systems</i>, T. Samad and G. Balas (eds.), IEEE Press, 2001 (submitted) +
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06:19:09, 15 May 2016 +
