Distributed Iterative Sequential Action Control for Multiple Nonlinear Dynamic Systems

This paper investigates the trajectory tracking problem of multiple nonlinear dynamic systems via exploring an analytical optimal control way. Firstly, a distributed iterative sequential action control scheme is proposed, wherein, each agent seeks an explicit analytical solution for optimization problems, only require local topology neighborhood information. Then, a triple control action containing saturated control value, optimized control application time and duration is derived to form a discrete pulse like control sequence in the receding horizon. Compared with the traditional optimal control methods, the computational complexity and energy consumption of the proposed distributed iterative sequential action control scheme is reduced dramatically. Finally, an illustrative example of multi-spacecraft formation tracking mission is organized to validate the effectiveness.