Decentralized optimization, with application to multiple aircraft coordination

Gökhan Inalhan, Dusan M Stipanovic, Claire J. Tomlin

Research output: Contribution to journalArticle


We present a decentralized optimization method for solving the coordination problem of interconnected nonlinear discrete-time dynamic systems with multiple decision makers. The optimization framework embeds the inherent structure in which each decision maker has a mathematical model that captures only the local dynamics and the associated interconnecting global constraints. A globally convergent algorithm based on sequential local optimizations is presented. Under assumptions of differentiability and linear independence constraint qualification, we show that the method results in global convergence to ε-feasible Nash solutions that satisfy the Karush-Kuhn-Tucker necessary conditions for Pareto-optimality. We apply this methodology to a multiple unmanned air vehicle system, with kinematic aircraft models, coordinating in a common airspace with separation requirements between the aircraft.

Original languageEnglish (US)
Pages (from-to)1147-1155
Number of pages9
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2002
Externally publishedYes


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this