Robust distributed model predictive control using tubes

Abstract

This paper presents a new form of robust distributed model predictive control (MPC) for multiple subsystems with coupled constraints and persistent disturbances. The new method allows greater flexibility in communications than existing methods, and relaxes restrictions on the order in which distributed computations are performed. The new controller uses the concept of tube MPC, in which an optimization designs a tube for the system to follow rather than a trajectory. The contributions of this paper are the modification of tube MPC for distributed implementation and investigation of the trade between performance and communication