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Robust Distributed Model Predictive Control of Linear Systems


C. Conte, M.N. Zeilinger, M. Morari, C.N. Jones

European Control Conference (ECC), Zurich, Switzerland, pp. 2764-2769

In this work, synthesis and closed-loop operation of robust distributed model predictive control (MPC) for linear systems using distributed optimization is discussed. Previous work has shown that a nominal MPC controller for this setup can be synthesized and operated in a purely distributed manner. This paper extends this concept to linear systems subject to additive bounded disturbance. It is shown how well-established robust MPC approaches can be applied to distributed systems. The main focus of the paper is on a thorough discussion of computational issues arising from distributed synthesis and closed-loop operation of existing robust MPC controllers. In particular, techniques for distributed synthesis of structured robust positive invariant sets and distributed constraint tight- ening are proposed. The paper is concluded by a numerical example which illustrates the functionality and performance of the proposed techniques.


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% Autogenerated BibTeX entry
@InProceedings { ConEtal:2013:IFA_4383,
    author={C. Conte and M.N. Zeilinger and M. Morari and C.N. Jones},
    title={{Robust Distributed Model Predictive Control of Linear
    booktitle={European Control Conference (ECC)},
    address={Zurich, Switzerland},
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