Applied receding horizon control of the Caltech Ducted Fan

R. Franz, M. Milam, J. Hauser
2002 Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301)  
This paper details the application of a constrained receding horizon control strategy to the Caltech Ducted Fan, an indoor vectored-thrust flight experiment. The strategy is used to stabilize the experiment about one operating point, and improved disturbance rejection and region of attraction are shown compared with a scheduled LQR controller. Issues related to non-zero computation times, choice of horizon length and terminal cost are discussed.
doi:10.1109/acc.2002.1024508 fatcat:sincnflyu5gkjayr7qqbwwztju