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Receding horizon control of vectored thrust flight experiment

Milam, M. B. and Franz, R. and Hauser, J. E. and Murray, R. M. (2005) Receding horizon control of vectored thrust flight experiment. IEE Proceedings - Control Theory and Applications, 152 (3). pp. 340-348. ISSN 1350-2379. doi:10.1049/ip-cta:20059031.

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Abstract: The application of a constrained receding horizon control technique to stabilise an indoor vectored-thrust flight experiment, known as the Caltech ducted fan, is given. The receding horizon control problem is formulated as a constrained optimal control problem and solved in real time with an efficient, computational method that combines nonlinear control theory, B-spline basis functions, and nonlinear programming. Characteristic issues, including non-zero computational times, convergence properties, choice of horizon length and terminal cost are discussed. The study validates the applicability of real-time receding horizon control for constrained systems with fast dynamics.

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Murray, R. M.0000-0002-5785-7481
Additional Information:© IEE, 2005. Paper first received 12th May 2003 and in revised form 5th January 2005.
Issue or Number:3
Record Number:CaltechAUTHORS:20170408-172516757
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Official Citation:M. B. Milam, R. Franz, J. E. Hauser and R. M. Murray, "Receding horizon control of vectored thrust flight experiment," in IEE Proceedings - Control Theory and Applications, vol. 152, no. 3, pp. 340-348, May 2005. doi: 10.1049/ip-cta:20059031
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:76342
Deposited By: 1Science Import
Deposited On:13 Mar 2018 21:13
Last Modified:15 Nov 2021 16:59

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