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Date
2009-09Type
- Conference Paper
ETH Bibliography
yes
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Abstract
This paper presents a robust stabilizing decentralized model predictive control (MPC) algorithm for discrete-time nonlinear large-scale systems comprised of multiple subsystems. Each subsystem is controlled with a tube-based model predictive control algorithm that renders the subsystem input-to-state stable (ISS) with respect to both the external disturbances affecting it and the interconnections to the other subsystems (treated as additional disturbance inputs). The algorithm entails redesigning the MPC control strategy periodically, taking into account newly acquired information regarding the interconnection uncertainty sets. By using a regional version of the small-gain theorem for multiple nonlinear systems, we then show that the overall closed-loop system is ISS with respect to the external disturbances. Show more
Publication status
publishedExternal links
Book title
Proceedings of the First IFAC Workshop on Estimation and Control of Networked SystemsJournal / series
IFAC Proceedings VolumesVolume
Pages / Article No.
Publisher
ElsevierEvent
Subject
Decentralized; Cooperative optimizationOrganisational unit
03751 - Lygeros, John / Lygeros, John
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ETH Bibliography
yes
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