Abstract
In this chapter, a new Nash-based distributed MPC method is proposed to control large-scale multi-rate systems with linear dynamics that are coupled via inputs. These systems are multi-rate systems in the sense that either output measurements or input updates are not available at certain sampling times. Such systems can arise when the number of sensors is less than the number of variables to be controlled or when measurements of outputs cannot be completed simultaneously because of applicational limitations. The multi-rate nature gives rise to a lack of information which will cause uncertainty in the system’s performance. To compensate for the information loss due to the multi-rate nature of the systems under study, a distributed Kalman filter is proposed to provide an optimal estimate of the missing information.
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Notes
- 1.
Since the control horizon constraint only holds for \(\Delta \mathbf{u}_i\) via \({{\tilde{\varvec{\theta }}}}_i\) and not for \(\mathbf{v}_i\), the assumption is made that the process noise is zero from \(t+N_\mathrm{c}-1\) on.
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Acknowledgments
This research is supported by the Irish Programme for Research in Third Level Institutions (Cycle 4) (funded under the National Development Plan 2007-2013 with assistance from the European Regional Development Fund) and the VENI project “Intelligent multi-agent control for flexible coordination of transport hubs” (project 11210) of the Dutch Technology Foundation STW, a subdivision of The Netherlands Organisation for Scientific Research (NWO).
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Roshany-Yamchi, S., Negenborn, R.R., Cornelio, A.A. (2014). Nash-Based Distributed MPC for Multi-Rate Systems. In: Maestre, J., Negenborn, R. (eds) Distributed Model Predictive Control Made Easy. Intelligent Systems, Control and Automation: Science and Engineering, vol 69. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7006-5_21
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