Adaptive Cooperation in Robust Distributed Model Predictive Control

PA Trodden; AG Richards

doi:10.1109/CCA.2009.5280964

Adaptive Cooperation in Robust Distributed Model Predictive Control

PA Trodden, AG Richards

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

30 Citations (Scopus)

Abstract

In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a "fully cooperative" implementation.

Translated title of the contribution	Adaptive Cooperation in Robust Distributed Model Predictive Control
Original language	English
Title of host publication	IEEE Multi-conference on Systems and Control (MSC) incorporating the International Symposium on Intelligent Control (ISIC), St Petersburg
DOIs	https://doi.org/10.1109/CCA.2009.5280964
Publication status	Published - Jul 2009

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Conference Organiser: IEEE

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title = "Adaptive Cooperation in Robust Distributed Model Predictive Control",

abstract = "In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a {"}fully cooperative{"} implementation.",

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AB - In this paper a new, adaptive cooperative form of robust distributed model predictive control is introduced. In the new algorithm, for linear, dynamically-decoupled subsystems in the presence of bounded disturbances, an optimizing subsystem determines the existence of paths in a graph representing currently-active coupling constraints. Where such paths exists, cooperation is promoted by the local agent designing a hypothetical plan for other subsystems. Robust feasibility and stability are maintained by permitting only non-coupled agents to update at each time step. By simulation, performance is shown to surpass that of using cooperation between immediately-adjacent agents, rivalling that of a "fully cooperative" implementation.

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DO - 10.1109/CCA.2009.5280964

M3 - Conference Contribution (Conference Proceeding)

BT - IEEE Multi-conference on Systems and Control (MSC) incorporating the International Symposium on Intelligent Control (ISIC), St Petersburg

ER -

Adaptive Cooperation in Robust Distributed Model Predictive Control

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