DocumentCode :
2476442
Title :
Receding Horizon Control of Spatially Distributed Systems over Arbitrary Graphs
Author :
Motee, Nader ; Jadbabaie, Ali
Author_Institution :
Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA
fYear :
2006
fDate :
13-15 Dec. 2006
Firstpage :
3467
Lastpage :
3472
Abstract :
In this paper, we study the problem of receding horizon control of spatially distributed systems with arbitrary interconnection topologies. The key idea is the introduction of spatially decaying operators (SD) which serve as the main ingredient in the cost function that couples the state and control of individual agents with those of others. It is shown that coupling between subsystems of many well-known spatially distributed systems such as some of the recently studied models of distributed motion coordination with nearest neighbor interactions as well as spatially invariant systems can be characterized using such operators. We prove that for spatially distributed systems with input and state constraints in which the coupling is through an SD operator in a finite horizon cost function, optimal receding horizon controllers are piecewise affine (represented as a convolution sum plus an offset). More importantly, we prove that the kernel of each convolution sum decays exponentially in the spatial domain, thereby providing evidence that even centralized solutions to the receding horizon control problems for such systems has an inherent spatial locality. Our theoretical results are verified by numerical simulations
Keywords :
distributed control; graph theory; interconnected systems; motion control; agent control; distributed motion coordination; graph theory; interconnection topologies; nearest neighbor interactions; receding horizon control; spatially decaying operators; spatially distributed systems; Centralized control; Control systems; Convolution; Cost function; Distributed control; Kernel; Nearest neighbor searches; Numerical simulation; Optimal control; Topology;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
Type :
conf
DOI :
10.1109/CDC.2006.376920
Filename :
4177655
Link To Document :
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