Plug-and-play model predictive control based on robust control invariant sets
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Abstract: In this paper we consider a linear system represented by a coupling graph between subsystems and propose a distributed control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. Most importantly, as in Riverso et al., 2012 our design procedure enables plug-and-play (PnP) operations, meaning that (i) the addition or removal of subsystems triggers the design of local controllers associated to successors to the subsystem only and (ii) the synthesis of a local controller for a subsystem requires information only from predecessors of the subsystem and it can be performed using only local computational resources. Our method hinges on local tube MPC controllers based on robust control invariant sets and it advances the PnP design procedure proposed in Riverso et al., 2012 in several directions. Quite notably, using recent results in the computation of robust control invariant sets, we show how critical steps in the design of a local controller can be solved through linear programming. Finally, an application of the proposed control design procedure to frequency control in power networks is presented.
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- Plug-and-play model predictive control based on robust control invariant sets
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Cited in
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- A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D)
- Distributed economic nonlinear MPC for DC micro-grids with inherent bounded dynamics and coupled constraints
- Tube-based output feedback model predictive control of polytopic uncertain system with bounded disturbances
- Extended invariance and its use in model predictive control
- Dissipativity-guaranteed distributed model predictive controller for reconfigurable large-scale system
- Robust model predictive control for constrained continuous-time nonlinear systems
- Robust synergetic control design under inputs and states constraints
- Plug-and-play model predictive control based on robust control invariant sets
- Distributed predictive control with minimization of mutual disturbances
- Plug-and-play state estimation and application to distributed output-feedback model predictive control
- Plug-and-play distributed model predictive control with coupling attenuation
- Robust coalitional model predictive control with plug-and-play capabilities
- Distributed model predictive control with guaranteed performance for reconfigurable power flow systems based on passivity
- Parallelized robust distributed model predictive control in the presence of coupled state constraints
- Evolutionary-games approach for distributed predictive control involving resource allocation
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