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arXiv · 1907.10169

Distributed Model Predictive Control Under Inexact Primal-Dual Gradient Optimization Based on Contraction Analysis

Yanxu Su·Yang Shi·Changyin Sun
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Abstract

This paper develops a distributed model predictive control (DMPC) strategy for a class of discrete-time linear systems with consideration of globally coupled constraints. The DMPC under study is based on the dual problem concerning all subsystems, which is solved by means of the primal-dual gradient optimization in a distributed manner using Laplacian consensus. To reduce the computational burden, the constraint tightening method is utilized to provide a capability of premature termination with guaranteeing the convergence of the DMPC optimization. The contraction theory is first adopted in the convergence analysis of the primal-dual gradient optimization under discrete-time updating dynamics towards a nonlinear objective function. Under some reasonable assumptions, the recursive feasibility and stability of the closed-loop system can be established under the inexact solution. A numerical simulation is given to verify the performance of the proposed strategy.

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Yanxu Su, Yang Shi, Changyin Sun. 2019-07-23. Distributed Model Predictive Control Under Inexact Primal-Dual Gradient Optimization Based on Contraction Analysis. https://arxiv.org/abs/1907.10169

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