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arXiv · 1603.02044

Distributed Model Predictive Control Using a Chain of Tubes

Bernardo Hernandez·Paul Trodden
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Abstract

A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a nominal reference trajectory from a decentralized perspective. The outer controller uses this information to take into account the effects of the coupling and generate a distributed control action. The tube-based approach to robustness is employed. A supplementary constraint is included in the outer optimization problem to provide recursive feasibility of the overall controller

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Bernardo Hernandez, Paul Trodden. 2016-03-07. Distributed Model Predictive Control Using a Chain of Tubes. https://doi.org/10.1109/control.2016.7737610

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