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An Approach to distributed Robust Model Predictive Control of Discrete-Time Polytopic Systems

Abstract : A suboptimal approach to distributed robust MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized robust MPC problem into a distributed robust MPC problem. It is based on distributed on-line optimization by applying an accelerated gradient method. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.
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https://hal-supelec.archives-ouvertes.fr/hal-01096256
Contributor : Pascale Lepeltier <>
Submitted on : Wednesday, December 17, 2014 - 10:04:35 AM
Last modification on : Wednesday, September 16, 2020 - 5:23:30 PM

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Alexandra Grancharova, Sorin Olaru. An Approach to distributed Robust Model Predictive Control of Discrete-Time Polytopic Systems. 19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), Aug 2014, Cape Town, South Africa. pp.2576-2581, ⟨10.3182/20140824-6-ZA-1003.00690⟩. ⟨hal-01096256⟩

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