Distributed optimal control of nonlinear systems using a second-order augmented Lagrangian method. (March 2023)

• Record Type: Journal Article
• Authors: Parvini Ahmadi, Shervin; Hansson, Anders
• Is Part Of: European journal of control. Volume 70(2023)
• Publication Date: 2023-03
• Subjects: Distributed optimal control -- Distributed model predictive control -- Augmented Lagrangian -- Distributed optimization; Control theory -- Periodicals; Automatic control -- Periodicals; Automatic control -- Mathematics -- Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.ejcon.2022.100768
• Languages: English
• ISSNs: 0947-3580

Abstract

Abstract: In this paper, we propose a distributed second-order augmented Lagrangian method for distributed optimal control problems, which can be exploited for distributed model predictive control. We employ a primal-dual interior-point approach for the inner iteration of the augmented Lagrangian and distribute the corresponding computations using message passing over what is known as the clique tree of the problem. The algorithm converges to its centralized counterpart and it requires fewer communications between sub-systems as compared to algorithms such as the alternating direction method of multipliers. We illustrate the efficiency of the framework when applied to randomly generated interconnected sub-systems as well as to a vehicle platooning problem.