Robust cooperative control of dynamically decoupled systems via distributed MPC

In this paper, we design robust distributed model predictive controllers for constrained linear discrete-time systems which are subject to unknown but bounded disturbances and which are coupled with each other both via coupling constraints and a common, cooperative goal. This extends our previous re...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 45; no. 17; pp. 412 - 417
Main Authors Müller, Matthias A., Schürmann, Bastian, Allgöwer, Frank
Format Journal Article
LanguageEnglish
Published 2012
Subjects
Distributed Control
Predictive Control
Robust Control
Stabilization
Synchronization
Predictive Control
Distributed Control
Robust Control
Synchronization
Stabilization
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ISSN1474-6670
DOI10.3182/20120823-5-NL-3013.00007

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Summary:In this paper, we design robust distributed model predictive controllers for constrained linear discrete-time systems which are subject to unknown but bounded disturbances and which are coupled with each other both via coupling constraints and a common, cooperative goal. This extends our previous results for nominal systems without disturbances. The proposed algorithm can be used both for the classical control objective of setpoint stabilization, but also for other cooperative tasks such as consensus and synchronization problems. Furthermore, we illustrate our results with a numerical example.
ISSN:1474-6670
DOI:10.3182/20120823-5-NL-3013.00007