Applied receding horizon control of the Caltech Ducted Fan
Authors:
- M. MilamMMM. Milam
- J. HauserJHJ. Hauser
Open Access
- 1 January 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5, 3735-3740 vol.5
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
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