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We consider a set of decoupled dynamical systems and an optimal control problem where cost function and constraints couple the dynamical behavior of the systems. The coupling is described through a connected graph where each system is a node, and cost and constraints of the optimization problem associated to each node are only function of its state and the states of its neighbors. For such scenario, we propose a framework for designing decentralized receding horizon control (RHC) control schemes. In these decentralized schemes, a centralized RHC controller is broken into distinct RHC controllers of smaller sizes. Each RHC controller is associated to a different node and computes the local control inputs based only on the states of the node and of its neighbors. The proposed decentralized control schemes are formulated in a rigorous mathematical framework. Moreover, we highlight the main issues involved in guaranteeing stability and constraint fulfillment for such schemes and the degree of conservativeness that the decentralized approach introduces.
American Control Conference, 2004. Proceedings of the 2004 (Volume:6 )
Date of Conference: June 30 2004-July 2 2004