https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Online_Control_Customization_via_Optimization-Based_Control 2026-05-16T21:46:15Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Online_Control_Customization_via_Optimization-Based_Control&diff=19953&oldid=prev 2016-05-15T06:19:09Z

<p>htdb2wiki: creating page for 2001n_mur+03-sec.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Richard M. Murray et al.<br /> | title = Online Control Customization via Optimization-Based Control<br /> | source = In &lt;i&gt;Software-Enabled Control: Information Technology for Dynamical Systems&lt;/i&gt;, T. Samad and G. Balas (eds.), IEEE Press, 2001 (submitted)<br /> | year = 2001<br /> | type = Book Chapter<br /> | funding = DARPA/SEC<br /> | url = http://www.cds.caltech.edu/~murray/preprints/mur+03-sec.pdf<br /> | abstract = <br /> 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.<br /> <br /> | flags = <br /> | filetype = PDF, 25 pages<br /> | filesize = 429K<br /> | tag = mur+03-sec<br /> | id = 2001n<br /> }}</div>

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