CDS 110b: Receding Horizon Control: Difference between revisions
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== Lecture Outline == | == Lecture Outline == | ||
<ol type=I> | <ol type=I> | ||
<li> | <li> Receding Horizon Control | ||
* Problem Formulation | |||
* Stability theorems | |||
<li> Differential Flatness and Trajectory Generation | |||
* Definitions | |||
* Properties | |||
* Examples | |||
<li> Design Example: Caltech Ducted Fan | |||
</ol> | </ol> | ||
Revision as of 22:20, 15 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
