Browse wiki
From MurrayWiki
Receding Horizon Control of MultiVehicle 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 multivehicle
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  dm04cdc + 
Title  Receding Horizon Control of MultiVehicle 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/dm04cdc.pdf + 
hide properties that link here 
Receding Horizon Control of MultiVehicle Formations: A Distributed Implementation +  Title 
