D. Groß and O. Stursberg, “Robust Distributed Predictive Control of Communicating and Constrained Systems,” in 18th IFAC World Congress, ., Ed. Amsterdam: Elsevier Ltd., 2011, pp. 8926–8932.
Abstract
This paper proposes a strategy for distributed model predictive control for linear time invariant systems coupled via a common cost function and constraints. Each subsystem solves a local robust model predictive control (RMPC) problem which considers uncertain predictions received from other subsystems. In the chosen communication scheme, subsystems exchange information about optimized local trajectories and time-varying disturbances sets obtained from the local RMPC. The latter optimizes over feedback policies based on a cost function motivated by min-max approaches and can be implemented as a single tractable quadratic program. Under some assumptions, the proposed scheme remains feasible even in the presence of delays and packet loss. Simulation results for a platoon of autonomous vehicles in a leader-follower scenario illustrate the approach.
BibTex
@INPROCEEDINGS{DS11a,
author = {D. Gross and O. Stursberg},
title = {{Robust Distributed Predictive Control of Communicating and Constrained Systems}},
booktitle = {$18^{th}$ IFAC World Congress},
year = {2011},
pages = {8926-8932},
comment = {noch nicht gemeldet, ISBN: ?, ? Normseiten}
}
URL