Abstract
This paper describes position control of an RC hovercraft. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete inputs approximated by constrained continuous inputs. Although the nonlinear receding horizon control requires real-time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment. This paper compares experimental results and simulation results of two dimensional motion.
