Nested distributed MPC*. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Baldivieso Monasterios, Pablo R.; Hernandez, Bernardo; Trodden, Paul A.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 11822
• Page End: 11828
• Publication Date: 2017-07
• Subjects: Control of constrained systems -- Decentralized -- distributed control -- Distributed control -- estimation -- Model predictive -- optimization-based control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.1994
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions between subsystems; however, the main novelty here is to replace the conventional linear disturbance rejection controller with a second MPC controller, as is done in tube-based nonlinear MPC. In the distributed setting, this has the advantages that the disturbance rejection controller is able to consider the plans of neighbours, and the reliance on explicit robust invariant sets is removed.