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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Milam et al. (2005) studied this question.
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