Distributed receding horizon control of coupled nonlinear oscillators: Theory and application

被引：1
|
作者：
Dunbar, William B. [1 ]
机构：
[1] Univ Calif Santa Cruz, Santa Cruz, CA 95064 USA
来源：
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2006年
关键词：
receding horizon control; model predictive control; distributed control; decentralized control; large scale systems;
D O I：
10.1109/CDC.2006.376959
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper extends recent results on distributed receding horizon control (RHC) of dynamically coupled nonlinear systems subject to decoupled input constraints. Motivating examples of such systems include chains of coupled oscillators and supply chain management systems. Conditions for feasibility and stability of the distributed RHC algorithm are stated, with substantially less conservative requirements then previously derived. The conditions are shown to be satisfied for a set of coupled Van der Pol oscillators that model a walking robot experiment. Numerical experiments show good performance and demonstrate the computational savings over centralized RHC.
引用
收藏
页码：4854 / 4860
页数：7
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