Section: New Results

Distributed robust model predictive control

Participants : Sorin Olaru, Alexandra Grancharova [Technical University of Sofia, Bulgaria] .

We presented in a suboptimal approach to distributed closed-loop min-max MPC for uncertain systems consisting of polytopic subsystems with coupled dynamics subject to both state and input constraints. The approach applies the dynamic dual decomposition method and reformulates the original centralized min-max MPC problem into a distributed optimization problem. The suggested approach was illustrated on a simulation example of an uncertain system consisting of two interconnected polytopic subsystems.