Distributed Receding Horizon Control With Application to Multi-Vehicle Formation Stabilization

Abstract

We consider the control of interacting subsystems whose dynamics and constraints are uncoupled, but whose state vectors are coupled non-separably in a single centralized cost function of a finite horizon optimal control problem. For a given centralized cost structure, we generate distributed optimal control problems for each subsystem and establish that the distributed receding horizon implementation is asymptotically stabilizing. The communication requirements between subsystems with coupling in the cost function are that each subsystem obtain the previous optimal control trajectory of those subsystems at each receding horizon update. The key requirements for stability are that each distributed optimal control not deviate too far from the previous optimal control, and that the receding horizon updates happen sufficiently fast. The theory is applied in simulation for stabilization of a formation of vehicles.

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Document Details

Document Type
Technical Report
Publication Date
Jan 26, 2004
Accession Number
ADA464586

Entities

People

  • Richard M. Murray
  • William B. Dunbar

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Closed Loop Systems
  • Collision Avoidance
  • Computations
  • Consensus Algorithms
  • Differential Equations
  • Dual Mode
  • Eigenvalues
  • Equations
  • Feedback
  • Geometry
  • Integral Equations
  • Lyapunov Functions
  • Simulations
  • Time Intervals
  • Trajectories
  • Two Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.