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SUMMARY:Distributed Nonlinear Model Predictive Control in Real-time
DTSTART:20240202T100000
DTEND:20240202T110000
DTSTAMP:20260407T112953Z
UID:5acd6be103d30282b812166a62daaf4f15ea234ee273472953e7b790
CATEGORIES:Conferences - Seminars
DESCRIPTION:Gösta Stomberg\,\n\nTU Dortmund University\, Germany\nAbstrac
 t: Distributed Model Predictive Control (MPC) aims to transfer the success
  of centralized MPC to cyber-physical systems. Cooperative approaches with
  multiple communication rounds between coupled subsystems promise high per
 formance by solving a centralized optimal control problem online. However\
 , real-time requirements only allow for few optimizer iterations and the r
 esulting suboptimal control inputs reduce performance and complicate the s
 tability analysis. Similar challenges have been successfully addressed in 
 centralized Nonlinear MPC (NMPC) by Real-Time Iteration (RTI) schemes. We 
 present an RTI approach for distributed NMPC via tailored decentralized op
 timization algorithms and obtain novel stability guarantees for coupled no
 nlinear systems. Experimental results with robot formations demonstrate th
 e efficacy and real-time feasibility of the proposed approach.\n\nBio: Gö
 sta Stomberg received the M.Sc. degree in mechanical and computational eng
 ineering from the Technical University of Darmstadt\, Germany\, in 2019. S
 ince 2020\, he has been a Ph.D. student at the Institute for Energy System
 s\, Energy Efficiency and Energy Economics at TU Dortmund University\, Ger
 many. His research interests include distributed optimization and model pr
 edictive control.\n 
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STATUS:CONFIRMED
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