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Distributed Model Predictive Control Made Easy pp 553–568Cite as

On the Use of Suboptimal Solvers for Efficient Cooperative Distributed Linear MPC

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

Abstract

We address the problem of efficient implementations of distributed Model Predictive Control (MPC) systems for large-scale plants. We explore two possibilities of using suboptimal solvers for the quadratic program associated with the local MPC problems. The first is based on an active set method with early termination. The second is based on Partial Enumeration (PE), an approach that allows one to compute the (sub)optimal solution by using a solution table which stores the information of only a few most recently optimal active sets. The use of quick suboptimal solvers, especially PE, is shown to be beneficial because more cooperative iterations can be performed in the allowed given decision time. By using the available computation time for cooperative iterations rather than local iterations, we can improve the overall optimality of the strategy. We also discuss how input constraints that involve different units (for example, on the summation of common utility consumption) can be handled appropriately. Our main ideas are illustrated with a simulated example comprising three units and a coupled input constraint.

Keywords

  • Quadratic Program
  • Model Predictive Control
  • Decision Time
  • Couple Constraint
  • Model Predictive Controller

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Fig. 34.1

Notes

  1. 1.

    Computations are performed using GNU Octave on a MacBook Air (1.8 GHz, Intel Core i7).

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Author information

Authors and Affiliations

  1. Department of Civil and Industrial Engineering, University of Pisa, Pisa, Italy

    G. Pannocchia

  2. Computer Sciences Department, University of Wisconsin, Madison, WI, USA

    S. J. Wright

  3. Chemical and Biological Engineering Department, University of Madison, Madison, WI, USA

    J. B. Rawlings

Authors
  1. G. Pannocchia
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  2. S. J. Wright
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  3. J. B. Rawlings
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Corresponding author

Correspondence to G. Pannocchia .

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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Pannocchia, G., Wright, S.J., Rawlings, J.B. (2014). On the Use of Suboptimal Solvers for Efficient Cooperative Distributed Linear MPC. 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_34

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  • DOI: https://doi.org/10.1007/978-94-007-7006-5_34

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