Control Coordination for Hereditary Systems.
Robert E. Fennell, James A. Reneke · 1986
A control coordination strategy, which allows some level of autonomous component control for large scale hereditary systems, has been developed. The basic problem considered is how to add constraint to the component requirements and to exchange related information between components so that local control decisions can be made. The approach requires that component interactions be suitably limited so that variational methods can be used to determine component control laws independently.