Distributed and Networked Model Predictive Control

  • L. Grüne
  • F. Allgöwer
  • R. Findeisen
  • J. Fischer
  • D. Groß
  • U. D. Hanebeck
  • B. Kern
  • M. A. Müller
  • J. Pannek
  • M. Reble
  • O. Stursberg
  • P. Varutti
  • K. Worthmann

Abstract

In this chapter, we consider the problem of controlling networked and distributed systems by means of model predictive control (MPC). The basic idea behind MPC is to repeatedly solve an optimal control problem based on a model of the system to be controlled. Every time a new measurement is available, the optimization problem is solved and the corresponding input sequence is applied until a new measurement arrives. As explained in the sequel, the advantages of MPC over other control strategies for networked systems are due to the fact that a model of the system is available at the controller side, which can be used to compensate for random bounded delays. At the same time, for each iteration of the optimization problem an optimal input sequence is calculated. In case of packet dropouts, one can reuse this information to maintain closed-loop stability and performance.

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • L. Grüne
    • 1
  • F. Allgöwer
    • 2
  • R. Findeisen
    • 3
  • J. Fischer
    • 4
  • D. Groß
    • 5
  • U. D. Hanebeck
    • 4
  • B. Kern
    • 3
  • M. A. Müller
    • 2
  • J. Pannek
    • 6
  • M. Reble
    • 2
  • O. Stursberg
    • 5
  • P. Varutti
    • 3
  • K. Worthmann
    • 1
  1. 1.Chair of Applied MathematicsUniversity of BayreuthBayreuthGermany
  2. 2.Institute for Systems Theory and Automatic ControlUniversity of StuttgartStuttgartGermany
  3. 3.Institute for Systems Theory and Automatic ControlOtto-von-Guericke University MagdeburgMagdeburgGermany
  4. 4.Institute for Anthropomatics, Intelligent Sensor-Actuator-Systems LaboratoryKarlsruhe Institute of TechnologyKarlsruheGermany
  5. 5.Control and System TheoryUniversity of KasselKasselGermany
  6. 6.Institut für Mathematik und RechneranwendungUniversität der Bundeswehr MünchenNeubiberg b. MünchenGermany

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