Distributed Model Predictive Control Using a Chain of Tubes

TL;DR

This paper introduces a novel distributed model predictive control algorithm for coupled systems, employing a tube-based robustness approach with nested controllers to ensure recursive feasibility and effective regulation.

Contribution

It proposes a new distributed MPC method using a chain of tubes and nested controllers, enhancing robustness and feasibility in coupled subsystem regulation.

Findings

Effective regulation of coupled systems demonstrated

Robustness ensured via tube-based approach

Recursive feasibility maintained through supplementary constraints

Abstract

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