Constrained nonlinear receding horizon control and its application to a thrust vectored aircraft

This paper presents a receding horizon control method for input constrained nonlinear systems. The optimization procedure is based on predictions made by incremental models at points made by linearized incremental models set points of a given seed trajectory and the effect of linearization error are taken into account to give a bound on the predicted tracking error. The results of the algorithm are illustrated by applying the proposed algorithm to a simplified model of a thrust vectored aircraft.