Nonlinear receding horizon control of an RC hovercraft

被引：0

作者：

Seguchi, H ^{[1
]}

Ohtsuka, T ^{[1
]}

机构：

[1] Osaka Univ, Grad Sch Engn, Dept Comp Controlled Mech Syst, Suita, Osaka 5650871, Japan

来源：

PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2 | 2002年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes position control of an RC hovercraft. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete-valued inputs approximated by constrained continuous-valued inputs. Although the nonlinear receding horizon control requires real-time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment.

引用

页码：1076 / 1081

页数：6

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