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 (RHe 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.
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