Decentralized Receding Horizon Control

Keviczky, Tamas

ISBN 10: 363913141X / ISBN 13: 9783639131413

Editore: VDM Verlag, 2009

Codice articolo 6141538-n

Riassunto:

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.

L'autore: M.S. in Electrical Engineering, Budapest Univ. of Technology and Econ., 2001. Ph.D. in Control Science and Dynamical Systems, Univ. of Minnesota, 2005. Postdoctoral Scholar in Control and Dynamical Systems at Caltech, 2006-2007. Currently Assistant Professor at Delft Center for Systems and Control, Delft University of Technology, The Netherlands.

Dati bibliografici

Titolo: Decentralized Receding Horizon Control
Casa editrice: VDM Verlag
Data di pubblicazione: 2009
Legatura: Brossura
Condizione: New