《《1994 Interior point methods in the design of hierarchical controllers》.pdf

1994 IEEElntemptionsl S y ” on I-control lSl8AuQwl,1994. Cdumbus.Ohb. USA WA2 9 10:25 Interior Point Methods in the Design of Hierarchical Controllers PeterT. Szymanski and Michael Lemmon * Department of Electrical Engineering University of Notre Dame Notre Dame, IN 46556 Keywords: Hierarchical Control, Constrained Optimization, Alternating Minimization, Interior Points Abstract One method for doing this is found in [6]. Another important issue concerns the way in which individ- This paper reports on the use of interior point ual agents are distributed within a single layer of the (IP) optimization algorithms for determining an hierarchy. The distribution of agents within a sin- “optimal” set of control agents in a single layer of gle layer must optimize system performance given a hierarchical control system. The proposed algo- hard constraints on the number of agents within rithm is a modification of a primal IP algorithm the layer. Early formulations of this problem are which is closely