Robust distributed model predictive control of constrained continuous-time nonlinear systems: A robustness constraint approach

Huiping Li, Yang Shi

Research output: Contribution to journalArticlepeer-review

233 Scopus citations

Abstract

Due to the ubiquitous existence of external disturbances, the design of distributed control algorithms with robustness is an urgent demand for multi-agent system applications. This technical note investigates the robust distributed model predictive control (MPC) problem for a group of nonlinear agents (subsystems) subject to control input constraints and external disturbances. A robustness constraint is proposed to handle the external disturbances. Based on this, a novel robust distributed MPC scheme is designed for the overall agent system. Furthermore, the feasibility of the robust distributed MPC scheme and the robust stability of the overall agent system are analyzed, respectively. The conditions under which the proposed MPC is feasible and the overall agent system is robustly stabilized are established. Finally, the application of the robust distributed MPC to a group of cart-damper-spring systems verifies the theoretical results.

Original languageEnglish
Article number6681954
Pages (from-to)1673-1678
Number of pages6
JournalIEEE Transactions on Automatic Control
Volume59
Issue number6
DOIs
StatePublished - Jun 2014

Keywords

  • Constrained systems
  • continuous-time systems
  • distributed control
  • model predictive control (MPC)
  • multi-agent systems
  • nonlinear systems
  • robust control

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