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Robust distributed model predictive control

Robust distributed model predictive control This paper presents a formulation for distributed model predictive control (DMPC) of systems with coupled constraints. The approach divides the single large planning optimization into smaller sub-problems, each planning only for the controls of a particular subsystem. Relevant plan data is communicated between sub-problems to ensure that all decisions satisfy the coupled constraints. The new algorithm guarantees that all optimizations remain feasible, that the coupled constraints will be satisfied, and that each subsystem will converge to its target, despite the action of unknown but bounded disturbances. Simulation results are presented showing that the new algorithm offers significant reductions in computation time for only a small degradation in performance in comparison with centralized MPC. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Control Taylor & Francis

Robust distributed model predictive control

International Journal of Control , Volume 80 (9): 15 – Sep 1, 2007
16 pages

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References (31)

Publisher
Taylor & Francis
Copyright
Copyright Taylor & Francis Group, LLC
ISSN
1366-5820
eISSN
0020-7179
DOI
10.1080/00207170701491070
Publisher site
See Article on Publisher Site

Abstract

This paper presents a formulation for distributed model predictive control (DMPC) of systems with coupled constraints. The approach divides the single large planning optimization into smaller sub-problems, each planning only for the controls of a particular subsystem. Relevant plan data is communicated between sub-problems to ensure that all decisions satisfy the coupled constraints. The new algorithm guarantees that all optimizations remain feasible, that the coupled constraints will be satisfied, and that each subsystem will converge to its target, despite the action of unknown but bounded disturbances. Simulation results are presented showing that the new algorithm offers significant reductions in computation time for only a small degradation in performance in comparison with centralized MPC.

Journal

International Journal of ControlTaylor & Francis

Published: Sep 1, 2007

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