Distributed MPC for Consensus and Synchronization
In this chapter, we describe a distributed MPC algorithm for cooperative control of a network of systems which are coupled by constraints and pursue a common, cooperative control objective. The proposed DMPC algorithm cannot only be used for classical control objectives such as set point stabilization, but also for more general cooperative control tasks such as consensus and synchronization problems. Possible application fields include teams of mobile robots, formation flight of aircrafts, as well as satellite control.
KeywordsControl Objective Terminal Region Synchronization Problem Cooperative Control Coupling Constraint
This work was supported by the German Research Foundation (DFG) within the Priority Programme 1305 “Control Theory of Digitally Networked Dynamical Systems” and within the Cluster of Excellence in Simulation Technology (EXC 310/1) at the University of Stuttgart.
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