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Receding Horizon Control of a Vectored Thrust Flight Experiment 
Abstract 
This paper details the application of a co … This paper details the application of a constrained receding horizon control techniques to
stabilize an indoor vectoredthrust 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 e±cient computational method developed and implemented by Milam et al., that combines
nonlinear control theory, Bspline basis functions, and nonlinear programming. Characteristic
issues including nonzero computational times, convergence property, choice of horizon length
and terminal cost are discussed. The study confirms the applicability of realtime receding
horizon control for constrained systems with fast dynamics. or constrained systems with fast dynamics. +


Authors  Mark B. Milam, Ryan Franz, John E. Hauser, Richard M. Murray + 
ID  2003e + 
Source  <i>IEE Proceedings on Control Theory and Applications</i>, 152(3):340348 + 
Tag  mfhm05ieecta + 
Title  Receding Horizon Control of a Vectored Thrust Flight Experiment + 
Type  Journal submission + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:18:44 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/mfhm03ieecta.pdf + 
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Receding Horizon Control of a Vectored Thrust Flight Experiment +  Title 
