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Distributed model predictive control with asymmetric adaptive terminal sets for the regulation of large-scale systems
Publikationstyp
Conference Paper
Date Issued
2020-07
Sprache
English
Author(s)
Journal
Volume
53
Issue
2
Start Page
6899
End Page
6904
Citation
IFAC-PapersOnLine 53 (2): 6899-6904 (2020-01-01)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
Elsevier
In this paper, a novel distributed model predictive control (MPC) scheme with asymmetric adaptive terminal sets is developed for the regulation of large-scale systems with a distributed structure. Similar to typical MPC schemes, a structured Lyapunov matrix and a distributed terminal controller, respecting the distributed structure of the system, are computed offline. However, in this scheme, a distributed positively invariant terminal set is computed online and updated at each time instant taking into consideration the current state of the system. In particular, we consider ellipsoidal terminal sets as they are easy to compute for large-scale systems. The size and center of these terminal sets, together with the predicted state and input trajectories, are considered as decision variables in the online phase. The efficacy of the proposed scheme is illustrated in simulation by comparing it to a recent distributed MPC scheme with adaptive terminal sets.
Subjects
Adaptive control
Distributed control
Invariance
Large-scale systems
Predictive control
DDC Class
004: Informatik
600: Technik