Distributed Model Predictive Control Using a Chain of Tubes
Provides a novel method for robust distributed control of coupled systems, addressing feasibility challenges in MPC.
Proposes a distributed MPC algorithm for dynamically coupled subsystems using a nested tube-based approach, achieving recursive feasibility and robust control.
A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a nominal reference trajectory from a decentralized perspective. The outer controller uses this information to take into account the effects of the coupling and generate a distributed control action. The tube-based approach to robustness is employed. A supplementary constraint is included in the outer optimization problem to provide recursive feasibility of the overall controller