A Novel Distributed NMPC Control Structure for partially cooperative systems under limited information sharing

Mazen Alamir (1) , Ahmad Hably (1) , Haiyang Ding (1)

1 GIPSA-SYSCO - GIPSA - Systèmes non linéaires et complexité

In this contribution, a new cooperative control framework is proposed for a network of subsystems sharing limited information and showing destabilizing interconnection. The scheme is based on the exchange of Lyapunov function levels together with associated constraints between neighbors. Moreover, a tunable cooperation index is used by each subsystem in order to define the extent to which it accepts to degrade its own performance index in order to recover the integrity of its neighbors. An interesting feature is the use by each subsystem of a priority vector that enables to introduce hierarchical order of its neighbors leading to a cooperative strategy that can preserve critical nodes of

Domaines: Automatique / Robotique

Mazen Alamir, Ahmad Hably, Haiyang Ding. A Novel Distributed NMPC Control Structure for partially cooperative systems under limited information sharing. IFAC WC 2011 - 18th IFAC World Congress, Aug 2011, Milan, Italy. ⟨hal-00523679⟩