A distributed NMPC scheme without stabilizing terminal constraints

L. Grüne, K. Worthmann: A distributed NMPC scheme without stabilizing terminal constraints
in: Distributed Decision Making and Control, Chapter 12, R. Johansson, A. Rantzer (eds.)
Springer Verlag, 2012, 259 - 285

DOI: 10.1007/978-1-4471-2265-4_12
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Abstract:

We consider a distributed NMPC scheme in which the individual systems are coupled via state constraints. In order to avoid violation of the constraints, the subsystems communicate their individual predictions to the other subsystems once in each sampling period. For this setting, Richards and How have proposed a distributed MPC formulation with stabilizing terminal constraints. In this paper we show how this scheme can be extended to MPC without stabilizing terminal constraints or costs. We show theoretically and by means of numerical simulations that under a suitable controllability condition stability and feasibility can be ensured even for rather short prediction horizons.

 

MATLAB Files for the simulations in the paper: (ZIP-File)

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