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Uniting local and global controllers for the Caltech ducted fan
Abstract Caltech's ducted fan experiment is used as …
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.
vided using the actual Caltech ducted fan.  +
Authors Andrew R. Teel, Oliver Kaiser, Richard M. Murray  +
ID 1996r  +
Source 1997 American Control Conference  +
Tag tkm97-acc  +
Title Uniting local and global controllers for the Caltech ducted fan +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:08  +
URL
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http://www.cds.caltech.edu/~murray/preprints/tkm97-acc.pdf  +
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Uniting local and global controllers for the Caltech ducted fan + Title
 

 

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