02/07/2006 09:00 AM
Computer Engineering
This paper considers the problem of distributed control of dynamically coupled
nonlinear systems that are sub ject to decoupled constraints. Examples of such systems
include certain large scale process control systems, chains of coupled oscillators and
supply chain management systems. Receding horizon control is a method of choice in
these venues as constraints can be explicitly accommodated. In addition, a distributed
control approach is sought to enable the autonomy of the individual subsystems and
reduce the computational burden of centralized implementations. In this paper, a
distributed receding horizon control algorithm is presented for dynamically coupled
nonlinear systems that are sub ject to decoupled input constraints. By this algorithm,
each subsystem computes its own control locally. Provided an initially feasible solution
can be found, subsequent feasibility of the algorithm is guaranteed at every update,
and asymptotic stabilization is established. The theory is demonstrated in simulation
on a set of coupled oscillators that model a walking robot experiment.
