Pierer von Esch M, Völz A, Graichen K (2024)
Publication Type: Journal article
Publication year: 2024
Book Volume: 72
Pages Range: 91-106
Journal Issue: 2
This paper presents synchronous and asynchronous formulations of a sensitivity-based algorithm for solving distributed continuous-time nonlinear optimal control problems with a neighbor-affine structure. Sensitivities are defined in an optimal control context and utilized to ensure coordination between agents. By using delayed data in the asynchronous formulation, idle times of agents are reduced and faster execution of the algorithm is achieved. The convergence behavior w.r.t. topology and coupling strength is investigated in a numerical simulation and the execution time is evaluated on distributed hardware with communication over TCP in comparison to the alternating direction method of multipliers (ADMM) algorithm.
APA:
Pierer von Esch, M., Völz, A., & Graichen, K. (2024). Sensitivity-based distributed model predictive control: synchronous and asynchronous execution compared to ADMM. At-Automatisierungstechnik, 72(2), 91-106. https://doi.org/10.1515/auto-2023-0050
MLA:
Pierer von Esch, Maximilian, Andreas Völz, and Knut Graichen. "Sensitivity-based distributed model predictive control: synchronous and asynchronous execution compared to ADMM." At-Automatisierungstechnik 72.2 (2024): 91-106.
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