Distributed Model Predictive Control of Spatially Interconnected Systems Using Switched Cost Functions

DOI10.1109/TAC.2017.2757881MaRDI QIDQ4682261zbMATH OpenOpenAlexFDO

Authors Peng Liu, Ue. Oezguener

Publication date 18 September 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1606.02224

Mathematics Subject Classification ID

Discrete-time control/observation systems (93C55)

Abstract: This note proposes a distributed model predictive control (DMPC) scheme with switched cost functions for a class of spatially interconnected systems with communication constraints. Non-iterative and parallel communication strategy is considered to ensure that all distributed controllers complete input updates at each single information exchange step. The proposed DMPC scheme switches the optimization index on a switching surface generated by control invariant sets. With the index-switching strategy, stability of the origin is ensured by a terminal control law. Convergence conditions of the optimal cost to zero are established taking into account the causal link between the presumed trajectory and the optimized trajectory of the previous step. The compatibility constraints preserve the quadratic program property that is desired in practical applications. It is also observed that the proposed DMPC scheme has benefits dealing with systems that need to take into account safety-related spatial constraints.

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Cited in

(4)

• Distributed MPC for linear discrete-time systems with disturbances and coupled states
• Distributed control reconfiguration of nonlinear interconnected systems in the presence of actuator faults
• Distributed model predictive control for nonholonomic multivehicle formation tracking
• Robust tube-based distributed MPC for PWA systems

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