Trodden, P.A. & Richards, A.G., Distributed model predictive control of linear systems
with persistent disturbances, International Journal of Control,
2010, 83(8), 1653-1663.
Abstract--This paper presents a new form of robust distributed model predictive control (MPC) for multiple dynamically-decoupled subsystems, in which distributed control agents exchange plans to achieve satisfaction of coupling constraints. The new method offers greater flexibility in communications than existing robust methods, and relaxes restrictions on the order in which distributed computations are performed. The local controllers use the concept of tube MPC -- in which an optimization designs a tube for the system to follow rather than a trajectory -- to achieve robust feasibility and stability despite the presence of persistent, bounded disturbances. A methodical exploration of the trades between performance and communication is provided by numerical simulations of an example scenario. It is shown that at low levels of inter-agent communication, the DMPC can obtain a lower closed-loop cost than that obtained by a centralized implementation. A further example shows that the flexibility in communications means the new algorithm has a relatively low susceptibility to the adverse effects of delays in computation and communication.
Links: (PREPRINT)(DOI)
Copyright Notice
This is a preprint of an article whose final and definitive form has been published in the International Journal of Control © 2010 Taylor & Francis; the final article is available online here.
Abstract--This paper presents a new form of robust distributed model predictive control (MPC) for multiple dynamically-decoupled subsystems, in which distributed control agents exchange plans to achieve satisfaction of coupling constraints. The new method offers greater flexibility in communications than existing robust methods, and relaxes restrictions on the order in which distributed computations are performed. The local controllers use the concept of tube MPC -- in which an optimization designs a tube for the system to follow rather than a trajectory -- to achieve robust feasibility and stability despite the presence of persistent, bounded disturbances. A methodical exploration of the trades between performance and communication is provided by numerical simulations of an example scenario. It is shown that at low levels of inter-agent communication, the DMPC can obtain a lower closed-loop cost than that obtained by a centralized implementation. A further example shows that the flexibility in communications means the new algorithm has a relatively low susceptibility to the adverse effects of delays in computation and communication.
Links: (PREPRINT)(DOI)
Copyright Notice
This is a preprint of an article whose final and definitive form has been published in the International Journal of Control © 2010 Taylor & Francis; the final article is available online here.