Adaptive Cooperation in Robust Distributed Model Predictive Control

Paul Trodden, Arthur Richards

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a 'fully cooperative' implementation.

Original languageEnglish
Title of host publication2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3
Place of PublicationNEW YORK
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages896-901
Number of pages6
ISBN (Print)978-1-4244-4601-8
DOIs
Publication statusPublished - 2009

Keywords

  • RECEDING HORIZON CONTROL
  • NONLINEAR-SYSTEMS
  • LINEAR-SYSTEMS
  • OPTIMIZATION
  • STABILITY

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