CDS 110b: Receding Horizon Control

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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

• Lecture Presentation (no MP3)
• Lecture notes: Online Control Customization via Optimization-Based Control, R. Murray et al, 2003.
• Homework 3