View source for Uniting local and global controllers for the Caltech ducted fan

{{HTDB paper
| authors = Andrew R. Teel, Oliver Kaiser, Richard M. Murray
| title = Uniting local and global controllers for the Caltech ducted fan
| source = 1997 American Control Conference
| year = 1996
| type = Conference paper
| funding = ONR
| url = http://www.cds.caltech.edu/~murray/preprints/tkm97-acc.pdf
| abstract = 
Caltech's ducted fan experiment is used
as a case study to investigate the properties of
an algorithm for uniting local and global controllers
proposed in (Teel and Kapoor, 1997)
To simplify the control design process and to illustrate robustness,
the ducted fan is
modeled as a linear system with input rate limits.
The local controller is an (fairly aggressive) LQR state feedback while
the (semi-)global controller is a much less aggressive
LQR state feedback.  Closed-loop simulation results
are provided
using a fully nonlinear model of the ducted fan derived
from wind tunnel data.   Experimental results are also
provided using the actual Caltech ducted fan.
| flags = 
| tag = tkm97-acc
| id = 1996r
}}