Details
| Original language | English |
|---|---|
| Pages (from-to) | 1376-1397 |
| Number of pages | 22 |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 22 |
| Issue number | 12 |
| Publication status | Published - Aug 2012 |
| Externally published | Yes |
Abstract
In this paper, we propose a general framework for distributed model predictive control of discrete-time nonlinear systems with decoupled dynamics but subject to coupled constraints and a common cooperative task. To ensure recursive feasibility and convergence to the desired cooperative goal, the systems optimize a local cost function in a sequential order, whereas only neighbor-to-neighbor communication is allowed. In contrast to most of the existing distributed model predictive control schemes in the literature, we do not necessarily consider the stabilization of an a priori known set point. Instead, also other cooperative control tasks such as consensus and synchronization problems can be handled within the proposed framework. In particular, one of our main contributions is to show how for the latter case the terminal cost functions and the terminal region can be suitably defined and computed. Furthermore, we illustrate our results with simulation examples.
Keywords
- cooperative control, distributed MPC, model predictive control
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Chemical Engineering(all)
- General Chemical Engineering
- Engineering(all)
- Biomedical Engineering
- Engineering(all)
- Aerospace Engineering
- Engineering(all)
- Mechanical Engineering
- Engineering(all)
- Industrial and Manufacturing Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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In: International Journal of Robust and Nonlinear Control, Vol. 22, No. 12, 08.2012, p. 1376-1397.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Cooperative control of dynamically decoupled systems via distributed model predictive control
AU - Müller, Matthias A.
AU - Reble, Marcus
AU - Allgöwer, Frank
PY - 2012/8
Y1 - 2012/8
N2 - In this paper, we propose a general framework for distributed model predictive control of discrete-time nonlinear systems with decoupled dynamics but subject to coupled constraints and a common cooperative task. To ensure recursive feasibility and convergence to the desired cooperative goal, the systems optimize a local cost function in a sequential order, whereas only neighbor-to-neighbor communication is allowed. In contrast to most of the existing distributed model predictive control schemes in the literature, we do not necessarily consider the stabilization of an a priori known set point. Instead, also other cooperative control tasks such as consensus and synchronization problems can be handled within the proposed framework. In particular, one of our main contributions is to show how for the latter case the terminal cost functions and the terminal region can be suitably defined and computed. Furthermore, we illustrate our results with simulation examples.
AB - In this paper, we propose a general framework for distributed model predictive control of discrete-time nonlinear systems with decoupled dynamics but subject to coupled constraints and a common cooperative task. To ensure recursive feasibility and convergence to the desired cooperative goal, the systems optimize a local cost function in a sequential order, whereas only neighbor-to-neighbor communication is allowed. In contrast to most of the existing distributed model predictive control schemes in the literature, we do not necessarily consider the stabilization of an a priori known set point. Instead, also other cooperative control tasks such as consensus and synchronization problems can be handled within the proposed framework. In particular, one of our main contributions is to show how for the latter case the terminal cost functions and the terminal region can be suitably defined and computed. Furthermore, we illustrate our results with simulation examples.
KW - cooperative control
KW - distributed MPC
KW - model predictive control
UR - http://www.scopus.com/inward/record.url?scp=84864474004&partnerID=8YFLogxK
U2 - 10.1002/rnc.2826
DO - 10.1002/rnc.2826
M3 - Article
AN - SCOPUS:84864474004
VL - 22
SP - 1376
EP - 1397
JO - International Journal of Robust and Nonlinear Control
JF - International Journal of Robust and Nonlinear Control
SN - 1049-8923
IS - 12
ER -