The application of a constrained receding horizon control technique to stabilise an indoor vectored-thrust flight experiment, known as the Caltech ducted fan, is given. The receding horizon control problem is formulated as a constrained optimal control problem and solved in real time with an efficient, computational method that combines nonlinear control theory, B-spline basis functions, and nonlinear programming. Characteristic issues, including non-zero computational times, convergence properties, choice of horizon length and terminal cost are discussed. The study validates the applicability of real-time receding horizon control for constrained systems with fast dynamics.


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    Title :

    Receding horizon control of vectored thrust flight experiment


    Contributors:
    Milam, M.B. (author) / Franz, R. (author) / Hauser, J.E. (author) / Murray, R.M. (author)

    Published in:

    Publication date :

    2005


    Size :

    9 Seiten, 19 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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