Geodesic
Decentralized optimal control of a group of dynamical objects
Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 48 (2008) no. 4, pp. 593-609 Cet article a éte moissonné depuis la source Math-Net.Ru

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The problem of optimal control of a group of coupled dynamical objects is considered. The cases are examined in which the centralized control of a group of objects is impossible. Fast real-time optimal control algorithms of each of the dynamical systems are described that use information exchanged between group members in the course of control. The proposed methods supplement the earlier developed real-time optimal control methods for an individual dynamical system. The results are illustrated using optimal control of two coupled mathematical pendulums as an example. 
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R. Gabasov; N. M. Dmitruk; F. M. Kirillova. Decentralized optimal control of a group of dynamical objects. Žurnal vyčislitelʹnoj matematiki i matematičeskoj fiziki, Tome 48 (2008) no. 4, pp. 593-609. http://geodesic.mathdoc.fr/item/ZVMMF_2008_48_4_a4/

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