Distributed receding horizon control for multi-vehicle formation stabilization

  title={Distributed receding horizon control for multi-vehicle formation stabilization},
  author={William B. Dunbar and Richard M. Murray},
We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled non-separably in a single 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 control implementation is stabilizing to a neighborhood of the objective state. The implementation requires synchronous updates and the… CONTINUE READING
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