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We consider the control of interacting subWe consider the control of interacting subsystems whose dynamics and constraints</br>are uncoupled, but whose state vectors are coupled non-separably in a single centralized</br>cost function of a finite horizon optimal control problem. For a given centralized</br>cost structure, we generate distributed optimal control problems for each subsystem</br>and establish that the distributed receding horizon implementation is asymptotically</br>stabilizing. The communication requirements between subsystems with coupling in the</br>cost function are that each subsystem obtain the previous optimal control trajectory of</br>those subsystems at each receding horizon update. The key requirements for stability</br>are that each distributed optimal control not deviate too far from the previous optimal</br>control, and that the receding horizon updates happen sufficiently fast. The theory is</br>applied in simulation for stabilization of a formation of vehicles. stabilization of a formation of vehicles.  +
William B. Dunbar and Richard M. Murray  +
2004h  +
Submitted, <i>Automatica</i>  +
dm04-automatica  +
Technical Report  +
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00:54:42, 27 November 2016  +