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Distributed Model Predictive Control Using a Chain of Tubes

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 نشر من قبل Bernardo Andres Hernandez Vicente
 تاريخ النشر 2016
  مجال البحث الهندسة المعلوماتية
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A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a nominal reference trajectory from a decentralized perspective. The outer controller uses this information to take into account the effects of the coupling and generate a distributed control action. The tube-based approach to robustness is employed. A supplementary constraint is included in the outer optimization problem to provide recursive feasibility of the overall controller



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