Journal of Optimization Theory and Applications
Hybrid decentralized control of large scale systems
HSCC'05 Proceedings of the 8th international conference on Hybrid Systems: computation and control
A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Dynamic programming for constrained optimal control of discrete-time linear hybrid systems
Automatica (Journal of IFAC)
Distributed receding horizon control for multi-vehicle formation stabilization
Automatica (Journal of IFAC)
Technical Communique: On decentralized negotiation of optimal consensus
Automatica (Journal of IFAC)
Robotics and Autonomous Systems
Automatica (Journal of IFAC)
Mono Landmark Localization for an Autonomous Navigation of a Cooperative Mobile Robot Formation
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Distributed model predictive control of nonlinear systems with input constraints
ACC'09 Proceedings of the 2009 conference on American Control Conference
A distributed MPC scheme with low communication requirements
ACC'09 Proceedings of the 2009 conference on American Control Conference
Dynamic processor allocation for multiple RHC systems in multi-core computing environments
ACC'09 Proceedings of the 2009 conference on American Control Conference
CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
Distributed optimization for model predictive control of linear-dynamic networks
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Brief paper: Distributed model predictive control of dynamically decoupled systems with coupled cost
Automatica (Journal of IFAC)
ICSI'11 Proceedings of the Second international conference on Advances in swarm intelligence - Volume Part II
Distributed model predictive control of the multi-agent systems with improving control performance
Journal of Control Science and Engineering - Special issue on Model Predictive Control
Tube-based distributed control of linear constrained systems
Automatica (Journal of IFAC)
Cooperative distributed MPC of linear systems with coupled constraints
Automatica (Journal of IFAC)
On distributed constrained formation control in operator-vehicle adversarial networks
Automatica (Journal of IFAC)
Hi-index | 22.16 |
We present a detailed study on the design of decentralized receding horizon control (RHC) schemes for decoupled systems. We formulate an optimal control problem for a set of dynamically decoupled systems where the cost function and constraints couple the dynamical behavior of the systems. The coupling is described through a graph where each system is a node, and cost and constraints of the optimization problem associated with each node are only function of its state and the states of its neighbors. The complexity of the problem is addressed by breaking a centralized RHC controller into distinct RHC controllers of smaller sizes. Each RHC controller is associated with a different node and computes the local control inputs based only on the states of the node and of its neighbors. We analyze the properties of the proposed scheme and introduce sufficient stability conditions based on prediction errors. Finally, we focus on linear systems and show how to recast the stability conditions into a set of matrix semi-definiteness tests.