Distributed MPC with Prediction of Time-Varying Communication Delay
For control systems with networked subsystems, this work addresses the challenge of time-varying delays by providing delay predictions to enhance control performance.
The paper proposes a distributed model predictive control approach integrated with predictive scheduling to handle time-varying communication delays, demonstrated on a platooning example to improve control performance.
The novel idea presented in this paper is to interweave distributed model predictive control with a reliable scheduling of the information that is interchanged between local controllers of the plant subsystems. To this end, a dynamic model of the communication network and a predictive scheduling algorithm are proposed, the latter providing predictions of the delay between sending and receiving information. These predictions can be used by the local subsystem controllers to improve their control performance, as exemplary shown for a platooning example.