J. Dold and O. Stursberg, “A Communication-based Distributed Model Predictive Control Scheme with Time-varying Consistency Constraints,” in Control Conference (ECC) 2009, IEEE, Ed. Piscataway, New Jersey: IEEE, 2009, pp. 2343–2348.
Abstract
A communication-based distributed model predictive control scheme for a set of dynamically decoupled autonomous systems (agents) is proposed. The individual dynamics are described by discrete-time linear systems. Locally, each agent obeys a model predictive controller which minimizes a given local cost-function. Coupling between the agents occurs only through state-constraints. It is assumed that an initial feasible solution for the centralized optimization problem can only be found in a suboptimal manner due to computational limits. Then, the agents can decrease their local costs by replanning in each time step. This has to be done in a consistent way which is obtained by communicating local predicted trajectories under consideration of communication delays.
BibTex
@INPROCEEDINGS{DS09a,
author = {J. Dold and O. Stursberg},
title = {{A Communication-based Distributed Model Predictive Control Scheme with Time-varying Consistent Constraints}},
booktitle = {10th European Control Conference},
year = {2009},
pages = {2343-2348},
comment = {ISBN 978-963-311-369-1, 26 Normseiten}
}
URL