Title :
Applied receding horizon control of the Caltech Ducted Fan
Author :
Franz, Ryan ; Milam, Mark ; Hauser, John
Author_Institution :
Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA
Abstract :
This paper details the application of a constrained receding horizon control strategy to an indoor vectored-thrust flight experiment known as the Caltech Ducted Fan. The strategy is used to stabilize the experiment about one operating point, and step response and disturbance rejection are examined with different configurations and in comparison to a gain-scheduled LQR controller. Issues related to non-zero computation times, choice of horizon length and terminal cost are discussed.
Keywords :
aerospace control; optimal control; predictive control; Caltech Ducted Fan; guidance; indoor vectored thrust flight; nonlinear control; optimal control; predictive control; receding horizon control; Aerodynamics; Costs; Open loop systems; Optimal control; Predictive models; Runtime; Stability; Timing; Unmanned aerial vehicles; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024508
