Cooperative MPC with Guaranteed Exponential Stability
In this chapter, a cooperative distributed MPC is presented. The main features of this control strategy are: constraints satisfaction; cooperation between agents to achieve an agreement; closed-loop stability that is always ensured, even in the case of just one iteration; achieved control actions that are plantwide Pareto optimal and equivalent to the centralized solution; Pareto optimality is achieved also in case of coupled constraints; a coordination layer is not needed. It is proved that cooperative MPC is a particular case of suboptimal MPC; exponential stability is then proved, based on exponential stability of suboptimal centralized MPC.
The author would like to thank Professor James B. Rawlings and Dr. Brett T. Stewart for helpful discussions and comments, as well as for material provided for the writing of this chapter.
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