Global feedback methods of a hierarchical controller for real-time execution and replanning

Feedback methods for a hierarchical structure that is based on a physical decomposition of the system are considered. These methods consist of global and local feedback during real-time executions and they incorporate real-time replanning. Local feedback methods consist of utilizing all the available measurements. This availability of other measurements enables the implementation of feedback controllers at almost every node. Global feedback methods involve detection and propagation of changes and replanning due to these changes. Since these methods are different from the standard feedback methods, real-time execution and replanning processes are described in detail. One of the major advantages of the feedback methods described are their ability to replan as much as possible within a time limit