Trodden, P. and Richards, A. (2010) Distributed model predictive control of linear systems with persistent disturbances. International Journal of Control, 83 (8). 1653 - 1663. ISSN 0020-7179
Abstract
This article presents a new form of robust distributed model predictive control (MPC) for multiple dynamically decoupled subsystems, in which distributed control agents exchange plans to achieve satisfaction of coupling constraints. The new method offers greater flexibility in communications than existing robust methods, and relaxes restrictions on the order in which distributed computations are performed. The local controllers use the concept of tube MPC – in which an optimisation designs a tube for the system to follow rather than a trajectory – to achieve robust feasibility and stability despite the presence of persistent, bounded disturbances. A methodical exploration of the trades between performance and communication is provided by numerical simulations of an example scenario. It is shown that at low levels of inter-agent communication, distributed MPC can obtain a lower closed-loop cost than that obtained by a centralised implementation. A further example shows that the flexibility in communications means the new algorithm has a relatively low susceptibility to the adverse effects of delays in computation and communication.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2010 Taylor & Francis. This is an author produced version of a paper subsequently published in International Journal of Control. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | linear systems; distributed control; constrained control |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 05 Oct 2015 15:46 |
Last Modified: | 28 Mar 2018 14:37 |
Published Version: | http://dx.doi.org/10.1080/00207179.2010.485280 |
Status: | Published |
Publisher: | Taylor & Francis |
Refereed: | Yes |
Identification Number: | 10.1080/00207179.2010.485280 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:90485 |