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