Browse wiki

From MurrayWiki
Jump to: navigation, search
Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation
Abstract We consider the control of dynamically dec …
We consider the control of dynamically decoupled subsystems whose state vectors are coupled in the cost function of a finite horizon optimal control problem. For a given cost structure, we generate distributed optimal control problems for each subsystem and establish that a distributed receding horizon implementation is asymptotically stabilizing. The communication requirements at each receding horizon update include the exchange of the previous optimal control trajectory between subsystems with coupling in the cost function. The key requirements for stability are that each distributed optimal control not deviate too far from the previous one, and that the receding horizon updates happen sufficiently fast. A simulation example of multi-vehicle formation stabilization is provided.
hicle formation stabilization is provided.  +
Authors William B. Dunbar and Richard M. Murray  +
ID 2004g  +
Source Submitted, 2004 Conference on Decision and Control (CDC)  +
Tag dm04-cdc  +
Title Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation +
Type Conference Paper  +
Categories Papers
Modification date
This property is a special property in this wiki.
15 May 2016 06:18:23  +
URL
This property is a special property in this wiki.
http://www.cds.caltech.edu/~murray/preprints/dm04-cdc.pdf  +
hide properties that link here 
Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation + Title
 

 

Enter the name of the page to start browsing from.