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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