Decentralized Receding Horizon Control

Large networks of interconnected independentlyactuated systems can be found these days in a broadspectrum of applications ranging from robotics andformation flight to civil engineering. The abundanceand importance of these systems will continue to growalong with the necessity of avoiding centralizedcontrol design when it becomes computationallyprohibitive or requires unrealistic expectationsregarding information exchange. This book proposes adecentralized optimal control framework usingdistributed Receding Horizon Control (RHC) schemes toaddress this problem which helps overcome drawbacksof currently available methods. Stability of theproposed scheme is analyzed in detail and a number ofmethodologies are presented to address the problem offeasibility. The technique is illustrated bydeveloping distributed formation control laws forcooperative Unmanned Air Vehicles (UAVs). Thepresented tools and analysis should be especiallyuseful for systems and controls engineers/researchersstudying constrained optimal control using localizedinformation or anyone else who may be interested inworking with large-scale systems and autonomousvehicle-teams.