Parallelized robust distributed model predictive control in the presence of coupled state constraints

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica Pub Date : 2024-10-03 DOI:10.1016/j.automatica.2024.111952

Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas

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引用次数: 0

Abstract

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed control scheme, all subsystems solve their local optimization problem in parallel and neighbor-to-neighbor communication suffices. The approach relies on consistency constraints which define a neighborhood around each subsystem’s reference trajectory where the state of the subsystem is guaranteed to stay in. Contrary to related approaches, the reference trajectories are improved consecutively. In order to ensure the controller’s robustness against bounded uncertainties, we employ tubes. The presented approach can be considered as a time-efficient alternative to the well-established sequential DMPC. In the end, we briefly comment on an iterative extension. The effectiveness of the proposed DMPC scheme is demonstrated with simulations, and its performance is compared to other DMPC schemes.

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存在耦合状态约束时的并行稳健分布式模型预测控制

本文针对受状态约束、耦合状态约束和输入约束影响的动态解耦非线性系统，提出了一种鲁棒分布式模型预测控制（DMPC）方案。在所提出的控制方案中，所有子系统并行地解决它们的局部优化问题，邻近系统之间的通信就足够了。该方法依赖于一致性约束，一致性约束定义了每个子系统参考轨迹周围的一个邻域，在该邻域中，子系统的状态保证保持不变。与相关方法不同的是，参考轨迹是连续改进的。为了确保控制器对有界不确定性的鲁棒性，我们使用了管子。最后，我们对迭代扩展进行了简要评述。我们通过模拟演示了所提出的 DMPC 方案的有效性，并将其性能与其他 DMPC 方案进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Automatica 工程技术-工程：电子与电气

CiteScore

10.70

自引率

7.80%

发文量

617

审稿时长

5 months

期刊介绍： Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field. After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience. Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.