Dynamic scheduling of multiple RHC systems with coupling and computational delay

This paper develops a new algorithm for the dynamic scheduling of multiple receding horizon controllers running on a single processor. The subsystems are coupled and the formulation is adapted for decentralized RHC. The proposed formulation accounts for bounded model uncertainty, sensor noise and computation delay. A cost function appropriate for control of multiple vehicle systems is proposed and an upper bound on the cost as a function of the execution horizon is developed. The upper bound is optimized to obtain the execution horizon of all subsystems subject to the computation constraints. To study computational delay, two methods that applied on experimental apparatus, are used and compared theoretically. Based on this comparison, the method called retarded actuation with prediction presented better performance and the dynamic scheduling algorithm was updated based on this method to overcome computational delay. The new approach is illustrated through formation control of three radio controlled hovercraft system.