Prediction Mismatch in Distributed Model Predictive Control
Publikationstyp
Conference Paper
Date Issued
2020-05
Sprache
English
Author(s)
Institut
TORE-URI
Start Page
1224
End Page
1229
Article Number
9143753
Citation
European Control Conference (ECC 2020): 1224-1229 (2020)
Contribution to Conference
Publisher DOI
Scopus ID
ISBN of container
978-390714401-5
This paper addresses the topic of prediction mismatch for distributed model predictive control. Based on a simple scenario the problem is illustrated for a small group of agents with obstacles in simulation studies. A novel approach based on external soft constraints is presented and shown in the simulated scenario to recover feasibility that was otherwise lost.