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

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{{cds110b-wi07}}
{{cds110b-wi07}}
This set of lectures provides an introduction to receding horizon control and its use for two degree of freedom control design.


== Course Materials ==
== Course Materials ==
* {{cds110b-wi07 pdfs|L8-1_rhc.pdf|Lecture slides on RHC overview}} (Wed)
* {{cds110b-wi07 pdfs|L8-2_rhc.pdf|Lecture notes on RHC analysis}} (Fri)
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/21Feb07.mp3 MP3] of Wednesday lecture, 21 Feb 2007
* [http://www.cds.caltech.edu/~murray/courses/cds110/wi07/mp3/23Feb07.mp3 MP3] of Friday lecture, 23 Feb 2007
* {{cds110b-wi07 pdfs|hw7.pdf|HW #7}} (due 29 Feb 07)


== References and Further Reading ==
== References and Further Reading ==
* <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>


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

Latest revision as of 20:42, 30 January 2008

WARNING: This page is for a previous year.
See current course homepage to find most recent page available.
CDS 110b Schedule Project FAQ Reading

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

Course Materials

References and Further Reading

  • 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.

Frequently Asked Questions