Modular distributed model predictive control of nonlinear neighbor-affine systems

对现代自动化和控制系统的效率和灵活性的稳步增长的需求要求对整个系统采取更广泛的设计方法，而不仅仅是孤立地查看和控制单个子系统。分散和分布式控制方案遵循这种整体设计方法，在控制设计中考虑了各子系统之间的相互依赖关系。模型预测控制(MPC)似乎是处理这类系统的一种合适的控制方法。本质上，预测控制依赖于有限时间动态优化问题的数值解，该问题根据系统的采样率反复求解。MPC对耦合系统的扩展是分布式MPC(DMPC)，它为每个子系统分配一个通信的MPC代理。该项目的目标是开发一种用于非线性耦合系统的DMPC方案，其中每个MPC代理包含一个邻域模型，该邻域模型预测其邻居的动态行为，以增强分布式算法的收敛和健壮性。除了方法学的发展和数学研究外，该项目的另一个目标是控制方法的数值和实验实现。该项目的一个特别目的是开发一个模块化框架，以便为适当的系统类别方便地配置和调整耦合结构。为了实现这些数学、数字和实验目标，拟议的工作方案建立在自己的初步工作基础上，这些工作在提案中有详细说明。

The steadily growing demands on efficiency and flexibility of modern automation and control systems requires a broader design approach for the overall system that goes beyond the isolated look at and control of single subsystems. Decentral and distributed control schemes follow this holistic design approach by including the interdependencies between the subsystems in the control design.Model predictive control (MPC) appears to be a suitable control approach to tackle these kind of systems. In essence, MPC relies on the numerical solution of a finite-horizon dynamic optimization problem that is repetitively solved according to the sampling rate of the system. An extension of MPC to coupled systems is distributed MPC (DMPC), which assigns a single communicating MPC agent to each subsystem. The goal of the proposed project is to develop a DMPC scheme for nonlinear coupled systems, where each MPC agent contains a neighborhood model that anticipates the dynamical behavior of its neighbors in order to enhance the convergence and robustness of the distributed algorithm. Besides the development and mathematical investigation of the methodology, a further goal of the project is the numerical and experimental realization of the control approach. A particular intention of the project is to develop a modular framework that allows for an easy configuration and adaptation of the couplingstructure for suitable system classes. To achieve these mathematical, numerical and experimental goals, the proposed work programme buildsupon own preliminary work that is detailled in the proposal.