CDS 110b: Receding Horizon Optimal Control

From Murray Wiki
Revision as of 03:01, 28 January 2008 by Murray (talk | contribs)
Jump to navigationJump to search
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)

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.

Frequently Asked Questions