This paper considers the problem of real‐time trajectory generation and tracking for
nonlinear control systems. We employ a two‐degree‐of‐freedom approach that separates …

Future Unmanned Air Vehicles (UAV) and Micro Air Vehicles (MAV) will fly in urban areas
and very close to obstacles. We have built a miniature (35 cm, 0.840 kg) electrically …

A modified version of the receding horizon control of nonlinear systems is proposed. The
approach is based on a finite horizon optimal control problem with a terminal cost. This …

In this paper we compare different nonlinear control design methods by applying them to the
planar model of a ducted fan engine. The methods used range from Jacobian linearization …

An exact solution to the nonlinear optimal control problem is known to be prohibitively
difficult, both analytically and computationally. Nevertheless, a number of alternative …

Deals with the application of receding horizon methods to the simplified model of a flight
control experiment developed at Cal Tech. The dynamics of the system are representative of …

This thesis explores the paradigm of two degree of freedom design for nonlinear control
systems. In two degree of freedom design one generates an explicit trajectory for state and …

With the advent of faster and cheaper computers, optimization based control methodologies
have become a viable candidate for control of nonlinear systems. Over the past twenty …

This paper considers the real time trajectory generation problem of how to generate,
possibly with some delay, a full state space and input trajectory in real time from an output …

This paper deals with the application of receding horizon methods to hover and forward
flight models of an experimental tethered flying wing developed at Caltech. The dynamics of …