A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
Fuente:
arXiv
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2022
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866910565548425216 |
|---|---|
| author | Wiltz, Adrian Chen, Fei Dimarogonas, Dimos V. |
| author_facet | Wiltz, Adrian Chen, Fei Dimarogonas, Dimos V. |
| contents | In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme, neighbor-to-neighbor communication suffices and all subsystems solve their local optimization problem in parallel. The approach relies on consistency constraints which define a neighborhood around each subsystem's reference trajectory where the state of the respective subsystem is guaranteed to stay in. Reference trajectories and consistency constraints are known to neighboring subsystems. Contrary to other relevant approaches, the reference trajectories are improved iteratively. Besides, the presented approach allows the formulation of convex optimization problems even in the presence of non-convex state constraints. The algorithm's effectiveness is demonstrated with a simulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2208_11439 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control Wiltz, Adrian Chen, Fei Dimarogonas, Dimos V. Systems and Control Multiagent Systems In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme, neighbor-to-neighbor communication suffices and all subsystems solve their local optimization problem in parallel. The approach relies on consistency constraints which define a neighborhood around each subsystem's reference trajectory where the state of the respective subsystem is guaranteed to stay in. Reference trajectories and consistency constraints are known to neighboring subsystems. Contrary to other relevant approaches, the reference trajectories are improved iteratively. Besides, the presented approach allows the formulation of convex optimization problems even in the presence of non-convex state constraints. The algorithm's effectiveness is demonstrated with a simulation. |
| title | A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control |
| topic | Systems and Control Multiagent Systems |
| url | https://arxiv.org/abs/2208.11439 |