Cooperative distributed MPC for tracking

• DOI: 10.1016/j.automatica.2013.01.019
• Publication Date: 2013-02-14T23:17:04Z
• Authors: A. Ferramosca; D. Limon; I. Alvarado; E.F. Camacho
• Keywords: Distributed control; Distributed Control; 02 engineering and technology; Cooperative Games; Cooperative games; https://purl.org/becyt/ford/2.2; 0202 electrical engineering, electronic engineering, information engineering; model predictive control; distributed control; setpoint tracking; Model predictive control; https://purl.org/becyt/ford/2; Stability; Model Predictive Control; Setpoint Tracking

This paper proposes a cooperative distributed linear model predictive control (MPC) strategy for tracking changing setpoints, applicable to any finite number of subsystems. The proposed controller is able to drive the whole system to any admissible setpoint in an admissible way, ensuring feasibility under any change of setpoint. It also provides a larger domain of attraction than standard distributed MPC for regulation, due to the particular terminal constraint. Moreover, the controller ensures convergence to the centralized optimum, even in the case of coupled constraints. This is possible thanks to the warm start used to initialize the optimization Algorithm, and to the design of the cost function, which integrates a Steady-State Target Optimizer (SSTO). The controller is applied to a real four-tank plant.