Plug-and-play model predictive control based on robust control invariant sets
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Publication:466313
DOI10.1016/J.AUTOMATICA.2014.06.004zbMATH Open1297.93017arXiv1210.6927OpenAlexW2964134671MaRDI QIDQ466313FDOQ466313
Authors: Stefano Riverso, Marcello Farina, Giancarlo Ferrari-Trecate 
Publication date: 24 October 2014
Published in: Automatica (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1210.6927
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Cited In (18)
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- Robust MPC suitable for closed-loop re-identification, based on probabilistic invariant sets
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- A modular framework for distributed model predictive control of nonlinear continuous-time systems (GRAMPC-D)
- Plug-and-play model predictive control based on robust control invariant sets
- Plug and play robust distributed control with ellipsoidal parametric uncertainty system
- Distributed economic nonlinear MPC for DC micro-grids with inherent bounded dynamics and coupled constraints
- Parallelized robust distributed model predictive control in the presence of coupled state constraints
- Robust coalitional model predictive control with plug-and-play capabilities
- Extended invariance and its use in model predictive control
- Tube-based output feedback model predictive control of polytopic uncertain system with bounded disturbances
- Distributed predictive control with minimization of mutual disturbances
- Dissipativity-guaranteed distributed model predictive controller for reconfigurable large-scale system
- Coalitional games for networked controllers with constraints on semivalues: a randomized design approach
- Plug-and-play state estimation and application to distributed output-feedback model predictive control
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