Coalitional predictive control: consensus-based coalition forming with robust regulation
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Abstract: This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a coalitional control scheme in which controllers of subsystems may, as the need arises, group together into coalitions and operate as a single entity. The scheme employs a robust form of distributed model predictive control for which recursive feasibility and stability are guaranteed, yet---uniquely---the reliance on robust invariant sets is merely implicit, thus enabling applicability to higher-order systems. The robust control algorithm is combined with an algorithm for coalition forming based on consensus theory and potential games; we establish conditions under which controllers reach a consensus on the sets of coalitions. The recursive feasibility and closed-loop stability of the overall time-varying coalitional control scheme are established under a sufficient dwell time, the existence of which is guaranteed.
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Cited in
(8)- Coalitional model predictive control with different inter-agent interaction modes
- Coalitional games for networked controllers with constraints on semivalues: a randomized design approach
- A novel approach for robust model predictive control applied to switched linear systems through state and output feedback
- A coalitional control scheme with applications to cooperative game theory
- Networked control design for coalitional schemes using game-theoretic methods
- Robust coalitional model predictive control with plug-and-play capabilities
- Event-triggered distributed model predictive control for PWA systems
- Partially cooperative robust distributed model predictive control for tracking
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