http://bme2.aut.ac.ir/~towhidkhah/MPC/seminars-ppt/seminar%20MPC/Fazane%20karami/Reference/Architectures%20for%20distributed%20and%20hierarchical%20Model%20Predictive%20Control%20%e2%80%93%20A%20review.pdf

Architectures for distributed and hierarchical Model Predictive Control - A review

A methodology is proposed for longitudinal control design of platoons of automotive vehicles within intelligent vehicle/highway systems (IVHSs). The proposed decentralized overlapping control law is obtained by using the inclusion principle, i.e., by decomposing the original system model by an appropriate input/state expansion, and by applying the linear quadratic (LQ) optimization to the locally extracted subsystems. The local quadratic criteria directly reflect the desired system performance. Optimization is carried out by using a sequential algorithm adapted to the lower block triangular (LBT) structure of the closed-loop system model. Contraction to the original space provides a decentralized platoon controller which preserves the asymptotic stability and the steady-state behavior of the controller obtained in the expanded space. Conditions for eliminating the "slinky effect" and obtaining the strict string stability are defined; it is shown that the corresponding constraints on the controller parameters are not too restrictive. A new dynamic platoon controller structure, consisting of a reduced order observer and a static feedback map, is obtained by applying the inclusion principle to the decentralized overlapping platoon control design in the case when the information from the preceding vehicle is missing. Numerous simulation results show that the proposed methodology provides a reliable tool for a systematic and efficient design of platoon controllers within IVHS.

Decentralized overlapping control of a platoon of vehicles

Decentralized overlapping control of a formation of unmanned aerial vehicles

Large scale control systems results of multivariable feedback systems models and structure of interconnected systems decentralized stabilizability the decentralized stabilization and pole assignment optimal decentralized control stability analysis of interconnected systems decentralized design for strongly coupled subsystems decentralized design for weakly coupled systems decentralized PI controllers strongly coupled symmetric composite systems survey of the results and open problems in feedback control of large-scale systems.

Feedback control of large-scale systems

http://foresight.ifmo.ru/ict/shared/files/201311/1_123.pdf

Decentralized control: An overview

A decentralized control scheme is proposed for linear systems composed of overlapping subsystems. By expanding the state space of the system, a higher-dimensional space is formed where the subsystems appear as disjoint. In the expanded space, standard optimization techniques can be used to formulate a suboptimal decentralized control law for the overall system. A suitable contraction of the obtained control law, which is compatible with the information constraints imposed by the overlapping subsystems, can be implemented in the original system. The application of the proposed decentralized control scheme is illustrated using a 19th order model for load-frequency control of a two-area interconnected power system.

Decentralized control with overlapping information sets

The purpose of this paper is to present a detailed study of the inclusion concept in dynamic systems, which is a suitable mathematical framework for comparing systems with different dimensions. The framework offers immediate results in reduced-order modeling and the overlapping decentralized control of complex systems. The presentation, which is limited to linear constant systems, relies on both the matrix algebra (computations) and the geometric elements (structure) to provide a balanced view of the issues involved in the concept of inclusion. The framework is quite broad, and has been used to consider nonlinear and time-varying systems, as well as systems with hereditary and stochastic effects.

D. E. White

Papers

Decentralized control with overlapping information sets

An inclusion principle for dynamic systems

An Inclusion Principle for Dynamic Systems

On Decentralized Control with Overlapping Information Sets