Distributed Model Predictive Control with Reconfigurable Terminal Ingredients for Reference Tracking

Publikationstyp
Journal Article
Date Issued
2022-11-01
Sprache
English
Author(s)
Aboudonia, Ahmed  
Eichler, Annika  
Cordiano, Francesco  
Banjac, Goran  
Lygeros, John  
TORE-URI
http://hdl.handle.net/11420/14117
Journal
IEEE transactions on automatic control  
Volume
67
Issue
11
Start Page
6263
End Page
6270
Citation
IEEE Transactions on Automatic Control 67 (11): 6263-6270 (2022-11-01)
Publisher DOI
10.1109/TAC.2021.3133494
Scopus ID
2-s2.0-85121362921
ArXiv ID
2007.00427
Various efforts have been devoted to developing stabilizing distributed Model Predictive Control (MPC) schemes for tracking piecewise constant references. In these schemes, terminal sets are usually computed offline and used in the MPC online phase to guarantee recursive feasibility and asymptotic stability. Maximal invariant terminal sets do not necessarily respect the distributed structure of the network, hindering the distributed implementation of the controller. On the other hand, ellipsoidal terminal sets respect the distributed structure, but may lead to conservative schemes. In this paper, a novel distributed MPC scheme is proposed for reference tracking of networked dynamical systems where the terminal ingredients are reconfigured online depending on the closed-loop states to alleviate the aforementioned issues. The resulting non-convex infinite-dimensional problem is approximated using a quadratic program. The proposed scheme is tested in simulation where the proposed MPC problem is solved using distributed optimization.
Subjects
Asymptotic stability
Distributed control
Dynamical systems
2-s2.0-85121362921Linear matrix inequalities
Networked dynamical systems
Predictive control
Predictive control
Regulation
Standards
Target tracking