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Cooperative Distributed Tracking MPC for Constrained Linear Systems: Theory and Synthesis


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

Conference on Decision and Control (CDC), Florence, Italy, pp. 3812-3817, 10 - 13 December

This paper provides a framework for distributed tracking of piecewise constant references for a network of constrained linear systems which act cooperatively. It is shown how the tracking problem can be posed as a distributed optimization problem and a method for distributed synthesis of the control law is presented. In particular, the notion of a distributed invariant set for tracking is introduced, by means of which a distributed constrained tracking controller with stability guarantee can be defined. A systematic procedure for the synthesis of ellipsoidal terminal sets for tracking is proposed, whereas all synthesis steps can be carried out by distributed optimization and hence without any central coordi- nation. The proposed framework, as well as its functionality and performance, are illustrated by means of a numerical example.


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% Autogenerated BibTeX entry
@InProceedings { ConEtal:2013:IFA_4517,
    author={C. Conte and M.N. Zeilinger and M. Morari and C. Jones},
    title={{Cooperative Distributed Tracking MPC for Constrained Linear
	  Systems: Theory and Synthesis}},
    booktitle={Conference on Decision and Control (CDC)},
    address={Florence, Italy},
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