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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 This property is a special property in this wiki.
|
15 May 2016 06:20:08 + |
| URL This property is a special property in this wiki.
|
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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