receding horizon control

Constraint Reduction with Exact Penalization for Model-Predictive Rotorcraft Control

  • Aaron L. Greenfield
  • Meiyun Y. He
  • Vineet Sahasrabudhe
  • AndrĂ© L. Tits
    • Categories Applications - Science and Engineering, Control Applications, Quadratic Programming Tags , , , , , , , , ,

    Model Predictive Control (also known as Receding Horizon Control (RHC)) has been highly successful in process control applications. Its use for aerospace applications has been hindered by its high computational requirements. In the present paper, we propose using enhanced primal-dual interior-point optimization techniques in the convex-quadratic-program-based RHC control of a rotorcraft. Our enhancements include a … Read more

    Efficient Robust Optimization for Robust Control with Constraints

  • Paul J. Goulart
  • Daniel Ralph
  • EC Kerrigan
    • Categories Control Applications, Robust Optimization Tags , , , , ,

    This paper proposes an efficient computational technique for the optimal control of linear discrete-time systems subject to bounded disturbances with mixed polytopic constraints on the states and inputs. The problem of computing an optimal state feedback control policy, given the current state, is non-convex. A recent breakthrough has been the application of robust optimization techniques … Read more