Decentralized minimum‐energy control and coordination of large scale linear systems
W.A. Gruver, J.C. Hedges, W.E. Snyder · Optimal Control Applications and Methods · 1980
Abstract A two‐level hierarchical algorithm of the interaction prediction type is derived for the decentralized optimal control of linear systems with fixed terminal state, linear interactions, and a minimum energy criterion. The algorithm is noniterative at the infimal level and utilizes successive approximation with averaging for the coordination. Numerical experiments compare the effect of the interactions, sampling times, and time horizon on the convergence of the algorithm.