Distributed receding horizon control for multi-vehicle formation stabilization
Distributed receding horizon control for multi-vehicle formation stabilization
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DOI：
10.1016/j.automatica.2005.12.008
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发表时间：
2006-04-01
期刊：
影响因子：
6.4
通讯作者：
Murray, RM
中科院分区：
文献类型：
--
作者：
Dunbar, WB;Murray, RM
我们考虑了相互作用的子系统的控制，其动力学和约束是解耦的，但其状态向量在有限的地平线最佳控制问题的单个成本函数中毫不可见量耦合。对于给定的成本结构，我们为每个子系统生成了分布式最佳控制问题，并确定分布式退化的视野控制实现正在稳定在目标状态的邻里。该实现需要同步更新，并在每个更新之前耦合子系统之间的最新最佳控制轨迹交换。稳定性的关键要求是，每个子系统与以前的开环状态轨迹的偏差不远，并且退缩的地平线更新发生得足够快。多车形成稳定的场所用于证明分布式实现。 （c）2006 Elsevier Ltd.保留所有权利。
We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled nonseparably in a single 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 control implementation is stabilizing to a neighborhood of the objective state. The implementation requires synchronous updates and the exchange of the most recent optimal control trajectory between coupled subsystems prior to each update. The key requirements for stability are that each subsystem not deviate too far from the previous open-loop state trajectory, and that the receding horizon updates happen sufficiently fast. The venue of multi-vehicle formation stabilization is used to demonstrate the distributed implementation. (c) 2006 Elsevier Ltd. All rights reserved.