# Difference between revisions of "CDS 110b: Receding Horizon Optimal Control"

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This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design. | This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design. | ||

* {{cds110b-wi08 pdfs|L4-1_rhc.pdf|Lecture slides on RHC overview}} (Mon) | |||

* {{cds110b-wi08 pdfs | * {{cds110b-wi08 pdfs placeholder|L4-2_rhc.pdf|Lecture notes on RHC analysis}} (Wed) | ||

* {{cds110b-wi08 pdfs placeholder|hw4.pdf|HW #4}} (due 6 Feb 08) | * {{cds110b-wi08 pdfs placeholder|hw4.pdf|HW #4}} (due 6 Feb 08) | ||

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

* R. M. Murray, ''Optimization-Based Control''. Preprint, 2008: {{cds110b-wi08 pdfs placeholder|optimal_28Jan08.pdf|Chapter 3 - Receding Horizon Control}} | |||

* <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p> | * <p>[http://www.cds.caltech.edu/~murray/papers/2001n_mur+03-sec.html Online Control Customization via Optimization-Based Control], R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.</p> | ||

* <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p> | * <p>[http://dx.doi.org/10.1016/S0005-1098(99)00214-9 Constrained model predictive control: Stability and optimality], D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.</p> | ||

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

## Revision as of 03:01, 28 January 2008

CDS 110b | Schedule | Project | Course Text |

This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.

- Lecture slides on RHC overview (Mon)
- Lecture notes on RHC analysis (Wed)
- HW #4 (due 6 Feb 08)

## References and Further Reading

- R. M. Murray,
*Optimization-Based Control*. Preprint, 2008: Chapter 3 - Receding Horizon Control Online Control Customization via Optimization-Based Control, R. M. Murray et al. In Software-Enabled Control: Information Technology for Dynamical Systems, T. Samad and G. Balas (eds.), IEEE Press, 2001. This paper talks about the CLF-based nonlinear RHC approach and its application on the Caltech ducted fan using NTG.

Constrained model predictive control: Stability and optimality, D. Q. Mayne, J. B. Rawlings, C. V. Rao and P. O. M. Scokaert. Automatica, 2000, Vol. 36, No. 6, pp. 789-814. This is one of the most referenced comprehensive survey papers on MPC. Gives a nice overview about its history and explains the most important issues and various approaches.