期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 13, 期 3-4, 页码 381-398出版社
WILEY-BLACKWELL
DOI: 10.1002/rnc.824
关键词
hovercraft; nonlinear receding horizon control; real-time optimization; discrete-valued input
This paper describes nonlinear receding horizon control of an underactuated hovercraft with discrete-valued inputs and its hardware implementation. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero thrusts. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete-valued inputs approximated by constrained continuous-valued inputs. Although nonlinear receding horizon control requires real-time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment. Copyright (C) 2003 John Wiley Sons, Ltd.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据