CDS 110b: Receding Horizon Control: Difference between revisions
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* {{cds110b-pdfs|L3-1_RHC.pdf|Lecture Presentation}} (MP3) | * {{cds110b-pdfs|L3-1_RHC.pdf|Lecture Presentation}} (MP3) | ||
* Lecture notes: [http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. Murray et al, 2003. | * Lecture notes: [http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. Murray et al, 2003. | ||
* {{cds110b-pdfs|hw3.pdf|Homework 3}} | * {{cds110b-pdfs|hw3.pdf|Homework 3}} - this should be considered in draft form until class on Wed. | ||
== References and Further Reading == | == References and Further Reading == | ||
== Frequently Asked Questions == | == Frequently Asked Questions == | ||
Revision as of 01:40, 16 January 2006
See current course homepage to find most recent page available. |
| Course Home | L7-2: Sensitivity | L8-1: Robust Stability | L9-1: Robust Perf | Schedule |
This lecture presents an overview of receding horizon control (RHC). In addition to providing a summary of the available theoretical results, we introduce the concept of differential flatness for simplifying RHC problems and provide an example of RHC control on the Caltech ducted fan. .
Lecture Outline
- Receding Horizon Control
- Problem Formulation
- Stability theorems
- Differential Flatness and Trajectory Generation
- Definitions
- Properties
- Examples
- Design Example: Caltech Ducted Fan
Lecture Materials
- Lecture Presentation (MP3)
- Lecture notes: Online Control Customization via Optimization-Based Control, R. Murray et al, 2003.
- Homework 3 - this should be considered in draft form until class on Wed.
