CDS 110b: Receding Horizon Control: Difference between revisions

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== Lecture Materials ==
== Lecture Materials ==
* {{cds110b-pdfs|L3-1_RHC.pdf|Lecture Presentation}} (MP3)
* {{cds110b-pdfs|L3-1_RHC.pdf|Lecture Presentation}} ([[#nomp3|no 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}} - this should be considered in draft form until class on Wed.
* {{cds110b-pdfs|hw3.pdf|Homework 3}}


== References and Further Reading ==
== References and Further Reading ==


== Frequently Asked Questions ==
== Frequently Asked Questions ==

Revision as of 03:46, 19 January 2006

WARNING: This page is for a previous year.
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

  1. Receding Horizon Control
    • Problem Formulation
    • Stability theorems
  2. Differential Flatness and Trajectory Generation
    • Definitions
    • Properties
    • Examples
  3. Examples: Caltech ducted fan, satellite formation flight, multi-vehicle testbed

Lecture Materials

References and Further Reading

Frequently Asked Questions

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