DocumentCode :
3636776
Title :
Almost decentralized lyapunov-based nonlinear model predictive control
Author :
R. M. Hermans;M. Lazar;A. Jokić
Author_Institution :
Department of Electrical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB, The Netherlands
fYear :
2010
fDate :
6/1/2010 12:00:00 AM
Firstpage :
3932
Lastpage :
3938
Abstract :
This paper proposes an almost decentralized solution to the problem of stabilizing a network of discrete-time nonlinear systems with coupled dynamics that are subject to local state/input constraints. By “almost decentralized” we mean that each local controller is allowed to use the states of neighboring systems for feedback, whereas it is not permitted to employ iterations between the systems in the network to compute the control action. The controller synthesis method used in this work is Lyapunov-based model predictive control (MPC). The stabilization conditions are decentralized via a set of structured control Lyapunov functions (CLFs) for which the maximum over all the functions in the set is a CLF for the global network of systems. However, this does not necessarily imply that each function is a CLF for its corresponding subsystem. Additionally, we provide a solution for relaxing the temporal monotonicity of the CLF for the overall network. For structured CLFs defined using the infinity norm, we show that the decentralized MPC algorithm can be implemented by solving a single linear program in each network node. A nontrivial example illustrates the effectiveness of the developed theory and shows that the proposed method can perform as well as more complex distributed, iteration-based MPC algorithms.
Keywords :
"Predictive models","Predictive control","Control systems","Nonlinear systems","Couplings","State feedback","Computer networks","Control system synthesis","Network synthesis","Lyapunov method"
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2010
ISSN :
0743-1619
Print_ISBN :
978-1-4244-7426-4
Type :
conf
DOI :
10.1109/ACC.2010.5530649
Filename :
5530649
Link To Document :
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