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
@article{arxiv.1603.02044,
title = {Distributed Model Predictive Control Using a Chain of Tubes},
author = {Bernardo Hernandez and Paul Trodden},
journal= {arXiv preprint arXiv:1603.02044},
year = {2017}
}
Comments
Accepted for presentation at the UKACC CONTROL 2016 conference (Belfast, UK)