Price-driven Coordination for Distributed NMPC Using a Feedback Control Law

  • R.  MartíEmail author
  • D.  Sarabia
  • C.  de Prada
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 69)


This chapter presents a distributed coordinated control algorithm based on a hierarchical scheme for systems consisting of nonlinear subsystems coupled by input constraints: the bottom layer is composed of several non-linear model predictive controllers (NMPC) working in parallel, and in a top layer, a price-driven coordination technique is used to coordinate these controllers. The price coordination problem is formulated as a feedback control law to fulfill the global constraints that affect all NMPC controllers. To illustrate this approach, the price-driven coordination method is used to control a four-tank process in a distributed manner and is compared with centralized and fully decentralized approaches.



The research leading to these results has received funding from the European Union Seventh Framework Programme [FP7/2007-2013]. The financial support of EMECW Lot 17 program and the project “MICINN DPI 2009-12805”, is also greatly appreciated.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Systems Engineering and Automatic Control, School of Industrial EngineeringUniversity of ValladolidValladolidSpain

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