A distributed framework for linear adaptive MPC

Abstract

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication. To solve the problem in a distributed manner, structure is imposed on the control design ingredients without sacrificing performance. Decentralized and distributed adaptation schemes that allow for a reduction of the uncertainty online compatibly with the network topology are also proposed. The algorithm ensures robust constraint satisfaction, recursive feasibility and finite gain ${\ell }_2$ stability, and yields lower closed-loop cost compared to robust distributed MPC in simulations.

arXiv commentThis work has been accepted to the 60th IEEE Conference on Decision and Control, 2021