| Description |
1 online resource (154 pages) |
| Contents |
Intro; 1 Introduction; 1.1 Motivation; 1.2 Research topic overview; 1.2.1 Distributed MPC; 1.2.2 Economic MPC; 1.3 Contributions and outline of this thesis; 2 Background; 2.1 Stabilizing MPC; 2.2 Economic MPC; 2.2.1 Average performance, optimal steady-state operation and stability; 2.2.2 Average constraints; 2.3 Summary; 3 Distributed MPC for cooperative control; 3.1 Problem setup; 3.2 Distributed MPC schemes for general cooperative control problems; 3.2.1 Distributed MPC with general cost functions; 3.2.2 Distributed MPC with separable cost functions; 3.2.3 Discussion |
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3.3 Application to consensus and synchronization3.3.1 Example -- synchronization of linear oscillators; 3.4 Summary; 4 Economic MPC: Dissipativity, average constraints, and self-tuning terminal cost; 4.1 Dissipativity in economic MPC; 4.1.1 Necessity of dissipativity for optimal steady-state operation; 4.1.2 Robustness of dissipativity under changing constraint sets; 4.2 Average constraints; 4.2.1 Economic MPC with average constraints and terminal region; 4.2.2 Convergence in economic MPC with average constraints; 4.2.3 Economic MPC with transient average constraints; 4.2.4 Numerical Examples |
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4.3 Economic MPC with self-tuning terminal cost4.3.1 Problem setup; 4.3.2 Average performance with time-varying terminal weight; 4.3.3 Self-tuning terminal weights; 4.3.4 Discussion; 4.3.5 Numerical examples; 4.4 Summary; 5 Distributed economic MPC; 5.1 Problem setup and distributed economic MPC scheme; 5.2 Convergence analysis of distributed economic MPC; 5.3 Application: Consensus under conflicting objective; 5.4 Summary and discussion; 6 Conclusions; 6.1 Summary and discussion; 6.2 Outlook; A Stability of discrete-time systems; B Nonlinear programming |
| Summary |
Annotation In this thesis, we study model predictive control (MPC) schemes for control tasks which go beyond the classical objective of setpoint stabilization. In particular, we consider two classes of such control problems, namely distributed MPC for cooperative control in networks of multiple interconnected systems, and economic MPC, where the main focus is on the optimization of some general performance criterion which is possibly related to the economics of a system. The contributions of this thesis are to analyze various systems theoretic properties occurring in these type of control problems, and to develop distributed and economic MPC schemes with certain desired (closed-loop) guarantees. To be more precise, in the field of distributed MPC we propose different algorithms which are suitable for general cooperative control tasks in networks of interacting systems. We show that the developed distributed MPC frameworks are such that the desired cooperative goal is achieved, while coupling constraints between the systems are satisfied. Furthermore, we discuss implementation and scalability issues for the derived algorithms, as well as the necessary communication requirements between the systems. In the field of economic MPC, the contributions of this thesis are threefold. Firstly, we analyze a crucial dissipativity condition, in particular its necessity for optimal steady-state operation of a system and its robustness with respect to parameter changes. Secondly, we develop economic MPC schemes which also take average constraints into account. Thirdly, we propose an economic MPC framework with self-tuning terminal cost and a generalized terminal constraint, and we show how self-tuning update rules for the terminal weight can be derived such that desirable closed-loop performance bounds can be established |
| Notes |
Print version record |
| Subject |
Stability -- Mathematical models
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Stability -- Mathematical models
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| Form |
Electronic book
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| ISBN |
9783832599515 |
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3832599517 |
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