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
收藏
页码：1076 / 1081
页数：6
相关论文
共 50 条
  • [41] ON THE STABILITY OF RECEDING HORIZON CONTROL OF NONLINEAR DISCRETE-TIME-SYSTEMS
    ALAMIR, M
    BORNARD, G
    COMPTES RENDUS DE L ACADEMIE DES SCIENCES SERIE I-MATHEMATIQUE, 1994, 318 (08): : 769 - 773
  • [42] Adaptive Receding Horizon Control For A Class Of Nonlinear Differential Difference Systems
    Lu, Mu-Chiao
    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 1116 - 1121
  • [43] A distributed receding horizon control algorithm for dynamically coupled nonlinear systems
    Dunbar, William B.
    2005 44th IEEE Conference on Decision and Control & European Control Conference, Vols 1-8, 2005, : 6673 - 6679
  • [44] Time-variant receding-horizon control of nonlinear systems
    Ohtsuka, T
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1998, 21 (01) : 174 - 176
  • [45] On the stability of receding horizon control of nonlinear discrete-time systems
    Alamir, Mazen, 1600, Elsevier Science Publishers B.V., Amsterdam, Netherlands (23):
  • [46] Nonlinear sampled-data output feedback receding horizon control
    Adetola, V
    Guay, M
    JOURNAL OF PROCESS CONTROL, 2005, 15 (04) : 469 - 480
  • [47] Suboptimal Adaptive Receding Horizon Control Using Simplified Nonlinear Programming
    Issa, Hazem
    Khan, Hamza
    Tar, Jozsef K.
    INES 2021: 2021 IEEE 25TH INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS, 2021,
  • [48] ON THE STABILITY OF RECEDING HORIZON CONTROL OF NONLINEAR DISCRETE-TIME-SYSTEMS
    ALAMIR, M
    BORNARD, G
    SYSTEMS & CONTROL LETTERS, 1994, 23 (04) : 291 - 296
  • [49] Distributed receding horizon control of coupled nonlinear oscillators: Theory and application
    Dunbar, William B.
    PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, : 4854 - 4860
  • [50] Receding horizon boundary control of nonlinear conservation laws with shock avoidance
    Pham, Thang V.
    Georges, Didier
    Besancon, Gildas
    AUTOMATICA, 2012, 48 (09) : 2244 - 2251
12345