Cooperative tube-based DMPC for linear uncertain systems coupled via constraints

by P. A. Trodden and A. G. Richards.

This chapter presents a robust form of distributed model predictive control for multiple, dynamically decoupled subsystems subject to bounded, persistent disturbances. Control agents make decisions locally and exchange plans; satisfaction of coupling constraints is ensured by permitting only non-coupled subsystems to update simultaneously. Robustness to disturbances is achieved by use of the tube MPC concept, in which a local control agent designs a tube, rather than a trajectory, for its subsystem to follow. Cooperation between agents is promoted by a local agent, in its optimization, designing hypothetical tubes for other subsystems, and trading local performance for global. Uniquely, robust feasibility and stability are maintained without the need for negotiation or bargaining between agents.