Trodden, P.A. & Richards, A.G., Adaptive cooperation in robust distributed model
predictive control, in Proc. IEEE Conference on Control Applications (CCA) &
Intelligent Control (ISIC), 2009, 896-901.
Abstract--In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a 'fully cooperative' implementation.
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Abstract--In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a 'fully cooperative' implementation.
Links: (PREPRINT)(DOI)
IEEE Copyright Notice
© 2009 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.