CDS 110b: Receding Horizon Optimal Control
See current course homepage to find most recent page available.
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 (Wed)
- Lecture notes on RHC analysis (Fri)
- MP3 of Wednesday lecture, 21 Feb 2007
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.