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Cooperative Tube-based Distributed MPC for Linear Uncertain Systems Coupled Via Constraints

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Book cover Distributed Model Predictive Control Made Easy

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 69))

Abstract

This chapter presents a robust form of distributed model predictive control for multiple, dynamically decoupled subsystems subject to bounded, persistent disturbances. Control agents make decisions locally and exchange plans; satisfaction of coupling constraints is ensured by permitting only non-coupled subsystems to update simultaneously. Robustness to disturbances is achieved by use of the tube MPC concept, in which a local control agent designs a tube, rather than a trajectory, for its subsystem to follow. Cooperation between agents is promoted by a local agent, in its optimization, designing hypothetical tubes for other subsystems, and trading local performance for global. Uniquely, robust feasibility and stability are maintained without the need for negotiation or bargaining between agents.

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Author information

Authors and Affiliations

  1. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, UK

    P. A. Trodden

  2. Department of Aerospace Engineering, University of Bristol, Bristol, UK

    A. G. Richards

Authors
  1. P. A. Trodden
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  2. A. G. Richards
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Corresponding author

Correspondence to P. A. Trodden .

Editor information

Editors and Affiliations

  1. Systems Engineering and Automation Dept, University of Seville, Seville, Spain

    José M. Maestre

  2. Dept of Marine & Transport Technology, Delft University of Technology, Delft, The Netherlands

    Rudy R. Negenborn

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© 2014 Springer Science+Business Media Dordrecht

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Trodden, P.A., Richards, A.G. (2014). Cooperative Tube-based Distributed MPC for Linear Uncertain Systems Coupled Via Constraints. In: Maestre, J., Negenborn, R. (eds) Distributed Model Predictive Control Made Easy. Intelligent Systems, Control and Automation: Science and Engineering, vol 69. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7006-5_3

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  • DOI: https://doi.org/10.1007/978-94-007-7006-5_3

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7005-8

  • Online ISBN: 978-94-007-7006-5

  • eBook Packages: EngineeringEngineering (R0)

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