TY - GEN
T1 - Instant Distributed Model Predictive Control for Constrained Linear Systems
AU - Figura, Martin
AU - Su, Lanlan
AU - Gupta, Vijay
AU - Inoue, Masaki
N1 - Funding Information:
M. Figura, L. Su, and V. Gupta are with the Department of Electrical Engineering at the University of Notre Dame, Notre Dame, IN, 46556 USA, {mfigura,lsu1,vgupta2}@nd.edu. M. Inoue is with the Department of Applied Physics and Physico-Informatics, Keio University, Kanagawa 223-8521, Japan, minoue@appi.keio.ac.jp. The work was partially supported by NSF CNS-1739295 and Army W911NF1910483.
Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - Distributed optimal control has emerged as an exciting possibility; however, existing algorithms tend to require excessive computational time and thus may not be able to stabilize systems with fast dynamics. We develop instant distributed model predictive control (iDMPC) with a realization of the primal-dual algorithm embedded in the controller dynamics. Under assumptions on fast communication, we show that the input and state trajectories of iDMPC are equivalent to a centralized suboptimal MPC scheme. We utilize a dissipativity analysis to show that the closed-loop system trajectories asymptotically converge to a desired reference.
AB - Distributed optimal control has emerged as an exciting possibility; however, existing algorithms tend to require excessive computational time and thus may not be able to stabilize systems with fast dynamics. We develop instant distributed model predictive control (iDMPC) with a realization of the primal-dual algorithm embedded in the controller dynamics. Under assumptions on fast communication, we show that the input and state trajectories of iDMPC are equivalent to a centralized suboptimal MPC scheme. We utilize a dissipativity analysis to show that the closed-loop system trajectories asymptotically converge to a desired reference.
UR - http://www.scopus.com/inward/record.url?scp=85089580238&partnerID=8YFLogxK
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U2 - 10.23919/ACC45564.2020.9147976
DO - 10.23919/ACC45564.2020.9147976
M3 - Conference contribution
AN - SCOPUS:85089580238
T3 - Proceedings of the American Control Conference
SP - 4582
EP - 4587
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -