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

Alexandra Grancharova 1 Sorin Olaru 2, 3
1 Department "Hybrid Systems" [Sofia]
2 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506
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.
Type de document :
Communication dans un congrès
19th IFAC World Congress on International Federation of Automatic Control (IFAC 2014), Aug 2014, Cape Town, South Africa. Proceedings of the 19th IFAC World Congress, 19 (1), pp.2576-2581, 〈10.3182/20140824-6-ZA-1003.00690〉
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https://hal-supelec.archives-ouvertes.fr/hal-01096256
Contributeur : Pascale Lepeltier <>
Soumis le : mercredi 17 décembre 2014 - 10:04:35
Dernière modification le : jeudi 26 avril 2018 - 15:20:34

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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. Proceedings of the 19th IFAC World Congress, 19 (1), pp.2576-2581, 〈10.3182/20140824-6-ZA-1003.00690〉. 〈hal-01096256〉

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