Trodden, P.A. & Richards, A.G., Robust distributed model predictive control
using tubes, in Proc. American Control Conference,
2006, 2034-2039.
Abstract--This paper presents a new form of robust distributed model predictive control (MPC) for multiple subsystems with coupled constraints and persistent disturbances. The new method allows greater flexibility in communications than existing methods, and relaxes restrictions on the order in which distributed computations are performed. The new controller uses the concept of Tube MPC, in which an optimization designs a tube for the system to follow rather than a trajectory. The contributions of this paper are the modification of Tube MPC for distributed implementation and investigation of the trade between performance and communication.
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© 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Abstract--This paper presents a new form of robust distributed model predictive control (MPC) for multiple subsystems with coupled constraints and persistent disturbances. The new method allows greater flexibility in communications than existing methods, and relaxes restrictions on the order in which distributed computations are performed. The new controller uses the concept of Tube MPC, in which an optimization designs a tube for the system to follow rather than a trajectory. The contributions of this paper are the modification of Tube MPC for distributed implementation and investigation of the trade between performance and communication.
Links: (PREPRINT) (DOI)
IEEE Copyright Notice
© 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.