We focus on distributed model predictive control algorithm. Each distributed model predictive controller communicates with the\nothers in order to compute the control sequence. But there are not enough communication resources to exchange information\nbetween the subsystems because of the limited communication network. This paper presents an improved distributed model\npredictive control scheme with control planning set. Control planning set algorithm approximates the future control sequences\nby designed planning set, which can reduce the exchange information among the controllers and can also decrease the distributed\nMPC controller calculation demand without degrading the whole system performance much.The stability and system performance\nanalysis for distributed model predictive control are given. Simulations of the four-tank control problem and multirobot multitarget\ntracking problem are illustrated to verify the effectiveness of the proposed control algorithm.
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