Robust distributed model predictive control using tubes

Paul Trodden, Arthur Richards

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


This paper presents a new form of robust distributed model predictive control (MPC) for multiple subsystems with coupled constraints and persistent disturbances. The new method allows greater flexibility in communications than existing methods, and relaxes restrictions on the order in which distributed computations are performed. The new controller uses the concept of Tube MPC, in which an optimization designs a tube for the system to follow rather than a trajectory. The contributions of this paper are the modification of Tube MPC for distributed implementation and investigation of the trade between performance and communication.

Original languageEnglish
Title of host publication2006 American Control Conference, Vols 1-12
Place of PublicationNEW YORK
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)1-4244-0209-3
Publication statusPublished - 2006




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