Distributed control design for underwater vehicles

J. Balderud, L. Giovanini, M.R. Katebi

Research output: Chapter in Book/Report/Conference proceedingChapter

15 Downloads (Pure)


The vast majority of control applications are based on non-interacting decentralized control designs. Because of their single-loop structure, these controllers cannot suppress interactions of the system. It would be useful to tackle the undesirable effects of the interactions at the design stage. A novel model predictive control scheme based on Nash optimality is presented to achieve this goal. In this algorithm, the control problem is decomposed into that of several small-coupled mixed integer optimisation problems. The relevant computational convergence, closed-loop performance and the effect of communication failures on the closed-loop behaviour are analysed. Simulation results are presented to illustrate the effectiveness and practicality of the proposed control algorithm.
Original languageEnglish
Title of host publicationProceedings of the 17th IFAC World Congress
EditorsMyung Jin Chung, Pradeep Misra
Place of PublicationSeoul, Korea
Number of pages5
Publication statusPublished - 2008

Publication series

NameIFAC Proceedings


  • decentralized control
  • receding horizon control
  • constrained systems
  • Nash optimality


Dive into the research topics of 'Distributed control design for underwater vehicles'. Together they form a unique fingerprint.

Cite this