Paper Info
Title
Plug-and-play model predictive control based on robust control invariant sets.
Abstract
We consider the problem of designing decentralized controllers for large-scale linear constrained systems composed by a number of interacting subsystems. As in Riverso et al. (2013b), (i) the design of local controllers requires limited transmission of information from other subsystems and (ii) the addition/removal of a subsystem triggers the design of local controllers for child subsystems only. These properties enable Plug-and-Play (PnP) operations, and we show how to perform them while preserving global stability of the origin and constraint satisfaction. We improve several aspects of the PnP design procedure proposed in Riverso et al. (2013b) and, using recent results in the computation of Robust Control Invariant (RCI) sets, we show that all critical steps in the design of a local controller can be solved through Linear Programming (LP). Finally, an application of the proposed design procedure to a large-scale mechanical system is presented.
Year
DOI
Venue
2012
10.1016/j.automatica.2014.06.004
Automatica
Keywords
DocType
Volume
Decentralized control,Decentralized synthesis,Model predictive control,Plug-and-play control
Journal
50
Issue
ISSN
Citations 
8
0005-1098
21
PageRank 
References 
Authors
1.36
11
3
Name
Order
Citations
PageRank
Stefano Riverso116717.28
Marcello Farina233536.83
Giancarlo Ferrari-Trecate383177.29