document: Control of a thrust-vectored flying wing : a receding horizon - LPV approach 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 the system are representative of a vertical landing and take off aircraft , such as a Harrier around hover , or a thrust-vectored aircraft such as F18-HARV or X-31 in forward flight . The adopted control methodology is a hybrid of receding horizon techniques and control Lyapunov function -LRB- CLF -RRB- - based ideas . First , a CLF is generated using quasi-LPV methods and then , by using the CLF as the terminal cost in the receding horizon optimization , stability is guaranteed . The main advantage of this approach is that stability can be guaranteed without imposing constraints in the on-line optimization , allowing the problem to be solved in a more efficient manner . Models of the experimental set-up are obtained for the hover and forward flight modes . Numerical simulations for different time horizons are presented to illustrate the effectiveness of the discussed methods . Specifically , it is shown that a mere upper bound on the cost-to-go is not an appropriate choice for a terminal cost , when the horizon length is short . Simulation results are presented using experimentally verified model parameters
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