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Distributed MPC for Consensus and Synchronization

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Distributed Model Predictive Control Made Easy

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 69))

Abstract

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.

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Acknowledgments

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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Authors and Affiliations

  1. University of Stuttgart, Institute for Systems Theory and Automatic Control, Stuttgart, Germany

    M. A. Müller & F. Allgöwer

Authors
  1. M. A. Müller
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  2. F. Allgöwer
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Corresponding author

Correspondence to M. A. Müller .

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Editors and Affiliations

  1. Systems Engineering and Automation Dept, University of Seville, Seville, Spain

    José M. Maestre

  2. Dept of Marine & Transport Technology, Delft University of Technology, Delft, The Netherlands

    Rudy R. Negenborn

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Müller, M.A., Allgöwer, F. (2014). Distributed MPC for Consensus and Synchronization. In: Maestre, J., Negenborn, R. (eds) Distributed Model Predictive Control Made Easy. Intelligent Systems, Control and Automation: Science and Engineering, vol 69. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7006-5_5

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  • DOI: https://doi.org/10.1007/978-94-007-7006-5_5

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7005-8

  • Online ISBN: 978-94-007-7006-5

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