This paper deals with the control of a thrust vectored flying wing known as the ducted fan, developed at California Institute of Technology. The experiment was developed to serve as a testbed for nonlinear control design. In an earlier paper, the authors reported simulation results based on a simplified (no aerodynamics involved) planar model of the ducted fan around hover position. In this pap...

This paper describes a method for constrained state estimation based on receding horizon optimization. The case here studied corresponds to an optimization horizon of size two and a constraint horizon of size one. It is shown that, in this case, a simple closed-form solution can be obtained. The resulting estimator is called a Rolling Horizon Estimator with Constraint Horizon One. It is shown t...

In this study, stability conditions of receding horizon control (RHC) based on a horizon size are proposed for linear discrete systems. The proposed stability conditions present a relevant horizon size which can guarantee the stability of RHC even though a final state weighting matrix does not satisfy non-increasing monotonicity of optimal cost. Therefore, the possible range of the final state ...

An output-feedback control strategy for pollution mitigation in combined sewer networks is presented. The proposed strategy provides means to apply model-based predictive control to large-scale sewer networks, in-spite of the lack of measurements at most of the network sewers. In previous works, the authors presented a hybrid linear control-oriented model for sewer networks together with the fo...

This paper discusses issues related to model predictive control for dual rate systems in which the input is updated faster than the output. When fast-rate models are not available, a simple and effective approach is proposed for receding horizon control which uses just a single prediction equation to generate fast control moves.

In this paper we address the obstacle avoidance motion planning problem for leader-follower vehicles configurations operating in static environments. By resorting to settheoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints. Terminal robust positively invariant regions and sequences of p...

This paper describes TuLiP, a Python-based software toolbox for the synthesis of embedded control software that is provably correct with respect to an expressive subset of linear temporal logic (LTL) specifications. TuLiP combines routines for (1) finite state abstraction of control systems, (2) digital design synthesis from LTL specifications, and (3) receding horizon planning. The underlying ...

Model Receding Horizon LTL Planner