Control of the Caltech ducted fan in forward flight: a receding horizon-LPV approach

We develop a receding horizon strategy for the control of the forward flight model of an experimental testbed known as the Caltech ducted fan. A quadratic control Lyapunov function is obtained using quasi-LPV methods, which is then used as terminal cost in a receding horizon framework. The quasi-LPV model depends on three varying parameters, namely, the pitch angle, angle of attack, and the velocity. Simulation results indicate that the control methodology is capable of producing near optimal results.