Distributed Model Predictive Control Using a Chain of Tubes [article]

Bernardo Hernandez, Paul Trodden
2016 arXiv   pre-print
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
more » ... ry constraint is included in the outer optimization problem to provide recursive feasibility of the overall controller
arXiv:1603.02044v1 fatcat:ritg4bc7trge7i4syi7usmrqj4