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

Dunbar, William B. and Murray, Richard M. (2004) Distributed Receding Horizon Control with Application to Multi-Vehicle Formation Stabilization. California Institute of Technology . (Unpublished)

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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.

Item Type:Report or Paper (Technical Report)
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Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2004.003
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Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28029
Deposited By: Imported from CaltechCDSTR
Deposited On:19 Apr 2004
Last Modified:03 Oct 2019 03:28

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