Stability and Computations in Cooperative Distributed Model Predictive Control
Event details
| Date | 07.03.2014 |
| Hour | 10:15 |
| Speaker | Christian Conte |
| Location | |
| Category | Conferences - Seminars |
In this seminar, a methodology for distributed synthesis and control for networks of constrained linear systems is presented. Every system in the network is dynamically coupled to a number of neighboring systems and it is assumed that communication among neighbors is possible. A model predictive controller based on distributed optimization is introduced, by which every system in the network can compute feasible and stabilizing control inputs online, and in a distributed manner. Closed-loop stability of the network of systems is guaranteed by particularly designed distributed invariance conditions. This includes in particular that the local invariant sets are not static, but evolve over time. It is shown that synthesis quadratic terminal cost functions and corresponding terminal invariant sets can be done by distributed optimization. Moreover, extensions of the methodology to robust and reference tracking setups are discussed and finally, computational aspects of distributed optimization in closed-loop MPC are highlighted.
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