Cooperative Distributed Tracking MPC for Constrained Linear Systems: Theory and Synthesis

被引：0

作者：

Conte, Christian ^{[1
]}

Zeilinger, Melanie N. ^{[2
,3
]}

Morari, Manfred ^{[1
]}

Jones, Colin N. ^{[4
]}

机构：

[1] ETH, Dept Informat Technol & Elect Engn, Automat Control Lab, CH-8092 Zurich, Switzerland

[2] Univ Calif Berkeley, Dept Elect Engn & Comp Sci, Berkeley, CA 94702 USA

[3] Max Planck Inst Intelligent Syst, Dept Empir Inference, D-72076 Tubingen, Germany

[4] Ecole Polytech Fed Lausanne, Automat Control Lab, CH-1015 Lausanne, Switzerland

来源：

2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2013年

关键词：

MODEL-PREDICTIVE CONTROL; OPTIMALITY; STABILITY; STATE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper provides a framework for distributed tracking of piecewise constant references for a network of constrained linear systems which act cooperatively. It is shown how the tracking problem can be posed as a distributed optimization problem and a method for distributed synthesis of the control law is presented. In particular, the notion of a distributed invariant set for tracking is introduced, by means of which a distributed constrained tracking controller with stability guarantee can be defined. A systematic procedure for the synthesis of ellipsoidal terminal sets for tracking is proposed, whereas all synthesis steps can be carried out by distributed optimization and hence without any central coordination. The proposed framework, as well as its functionality and performance, are illustrated by means of a numerical example.

引用

页码：3812 / 3817

页数：6

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