Robust Distributed Model Predictive Control of Constrained Continuous-Time Nonlinear Systems: A Robustness Constraint Approach
Top Cited Papers
- 11 December 2013
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 59 (6), 1673-1678
- https://doi.org/10.1109/tac.2013.2294618
Abstract
Due to the ubiquitous existence of external disturbances, the design of distributed control algorithms with robustness is an urgent demand for multi-agent system applications. This technical note investigates the robust distributed model predictive control (MPC) problem for a group of nonlinear agents (subsystems) subject to control input constraints and external disturbances. A robustness constraint is proposed to handle the external disturbances. Based on this, a novel robust distributed MPC scheme is designed for the overall agent system. Furthermore, the feasibility of the robust distributed MPC scheme and the robust stability of the overall agent system are analyzed, respectively. The conditions under which the proposed MPC is feasible and the overall agent system is robustly stabilized are established. Finally, the application of the robust distributed MPC to a group of cart-damper-spring systems verifies the theoretical results.Keywords
Funding Information
- Natural Sciences and Engineering Research Council of Canada
- State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources under (LAPS13013)
This publication has 17 references indexed in Scilit:
- Distributed model predictive control of linear systems with persistent disturbancesInternational Journal of Control, 2010
- Coordinating multiple optimization-based controllers: New opportunities and challengesJournal of Process Control, 2008
- Robust distributed model predictive controlInternational Journal of Control, 2007
- Distributed Receding Horizon Control of Dynamically Coupled Nonlinear SystemsIEEE Transactions on Automatic Control, 2007
- Distributed receding horizon control for multi-vehicle formation stabilizationAutomatica, 2006
- Examples when nonlinear model predictive control is nonrobustAutomatica, 2004
- Robust model predictive control for nonlinear discrete‐time systemsInternational Journal of Robust and Nonlinear Control, 2003
- Constrained model predictive control: Stability and optimalityAutomatica, 2000
- A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed StabilityAutomatica, 1998
- On characterizations of the input-to-state stability propertySystems & Control Letters, 1995