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2023-10-03T10:37:02+00:00
Receding Horizon Control of a Vectored Thrust Flight Experiment
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This paper details the application of a constrained receding horizon control techniques to
stabilize an indoor vectored-thrust flight experiment, known as the Caltech Ducted Fan, subjected to step commands. The result of the experiment sheds light on the theoretical stability
of the receding horizon control strategy as well as validates some efficient computation techniques for solving nonlinear optimal control problems with constraints. The receding horizon
control problem is formulated as a constrained optimal control problem, which was solved with
an eĀ±cient computational method developed and implemented by Milam et al., that combines
nonlinear control theory, B-spline basis functions, and nonlinear programming. Characteristic
issues including non-zero computational times, convergence property, choice of horizon length
and terminal cost are discussed. The study confirms the applicability of real-time receding
horizon control for constrained systems with fast dynamics.
Mark B. Milam, Ryan Franz, John E. Hauser, Richard M. Murray
2003e
<i>IEE Proceedings on Control Theory and Applications</i>, 152(3):340-348
mfhm05-ieecta
Journal submission
2016-05-15T06:18:44Z
2457523.7630093
Receding Horizon Control of a Vectored Thrust Flight Experiment
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