View source for Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation

{{HTDB paper
| authors = William B. Dunbar and Richard M. Murray
| title = Receding Horizon Control of Multi-Vehicle Formations: A Distributed Implementation
| source = Submitted, 2004 Conference on Decision and Control (CDC)
| year = 2004
| type = Conference Paper
| funding = DARPA/SEC
| url = http://www.cds.caltech.edu/~murray/preprints/dm04-cdc.pdf
| abstract = 
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.
| flags = 
| tag = dm04-cdc
| id = 2004g
}}