Decentralized Receding Horizon Control » książka
Decentralized Receding Horizon Control
ISBN-13: 9783639131413 / Angielski / Miękka / 2009 / 156 str.
Large networks of interconnected, independently actuated systems can be found these days in a broad spectrum of applications ranging from robotics and formation flight to civil engineering. The abundance and importance of these systems will continue to grow along with the necessity of avoiding centralized control design when it becomes computationally prohibitive or requires unrealistic expectations regarding information exchange. This book proposes a decentralized optimal control framework using distributed Receding Horizon Control (RHC) schemes to address this problem, which helps overcome drawbacks of currently available methods. Stability of the proposed scheme is analyzed in detail and a number of methodologies are presented to address the problem of feasibility. The technique is illustrated by developing distributed formation control laws for cooperative Unmanned Air Vehicles (UAVs). The presented tools and analysis should be especially useful for systems and controls engineers/researchers studying constrained optimal control using localized information, or anyone else who may be interested in working with large-scale systems and autonomous vehicle-teams.
Large networks of interconnected, independentlyactuated systems can be found these days in a broadspectrum of applications ranging from robotics andformation flight to civil engineering. The abundanceand importance of these systems will continue to growalong with the necessity of avoiding centralizedcontrol design when it becomes computationallyprohibitive or requires unrealistic expectationsregarding information exchange. This book proposes adecentralized optimal control framework usingdistributed Receding Horizon Control (RHC) schemes toaddress this problem, which helps overcome drawbacksof currently available methods. Stability of theproposed scheme is analyzed in detail and a number ofmethodologies are presented to address the problem offeasibility. The technique is illustrated bydeveloping distributed formation control laws forcooperative Unmanned Air Vehicles (UAVs). Thepresented tools and analysis should be especiallyuseful for systems and controls engineers/researchersstudying constrained optimal control using localizedinformation, or anyone else who may be interested inworking with large-scale systems and autonomousvehicle-teams.
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