Decentralized overlapping tracking control

S. S. Stanković, Dusan M Stipanovic, M. S. Stanković

Research output: Contribution to journalArticlepeer-review


In this paper, a new methodology for decentralized overlapping tracking control of complex or large-scale systems is proposed. The methodology is demonstrated in the case of multiple systems moving in a plane. Starting from the given information structure constraints, the expansion/contraction paradigm based on the restriction conditions is applied. The local design provides tracking controllers for the extracted subsystems; contraction is done according to the inclusion principle and results in a stable controller provided the system graph has a directed spanning tree. A specific methodology based on sequential LQ optimization is proposed for local controller design.

Original languageEnglish (US)
Pages (from-to)282-293
Number of pages12
JournalInternational Journal of General Systems
Issue number3-4
StatePublished - May 7 2014


  • Decentralized control
  • Inclusion principle
  • Large-scale systems
  • Multi-agent systems
  • Sequential LQ optimization
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Theoretical Computer Science
  • Information Systems
  • Modeling and Simulation
  • Computer Science Applications


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