An Approach to Distributed Min-Max Model Predictive Control of Linear Systems with Parametric Uncertainty

Alexandra Grancharova (1) , Sorin Olaru (2, 3)

1 University of Chemical Technology and Metallurgy [Sophia]
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
3 L2S - Laboratoire des signaux et systèmes

In this paper, a suboptimal approach to distributed closed-loop min-max MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints is proposed. The approach applies the dynamic dual decomposition method and reformulates the original centralized min-max MPC problem into a distributed optimization problem. The suggested approach is illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.

Mots clés: Min-max Model Predictive Control; Distributed Control; Linear Interconnected Systems; Polytopic Uncertainty

Domaines: Automatique / Robotique

Alexandra Grancharova, Sorin Olaru. An Approach to Distributed Min-Max Model Predictive Control of Linear Systems with Parametric Uncertainty. Information Technologies and Control, 2015, 13 (1-2), pp.2-9. ⟨10.1515/itc-2016-0006⟩. ⟨hal-01408571⟩