Coalitional control: a bottom-up approach

The recent major developments in information technologies have opened interesting possibilities for the effective management of multi-agent systems. In many cases, the important role of central control nodes can now be undertaken by several controllers in a distributed topology that suits better the structure of the system. This opens as well the possibility to promote cooperation between control agents in competitive environments, establishing links between controllers in order to adapt the exchange of critical information to the degree of subsystems' interactions. In this paper a bottom-up approach to coalitional control is presented, where the structure of each agent's model predictive controller is adapted to the time-variant coupling conditions, promoting the formation of coalitions - clusters of control agents where communication is essential to ensure the cooperation-whenever it can bring benefit to the overall system performance.