Cooperative MPC with guaranteed exponential stability

Abstract

In this chapter, a cooperative distributed MPC is presented. The main features of this control strategy are: constraints satisfaction; cooperation between agents to achieve an agreement; closed-loop stability always ensured, even in case of just one iteration; the achieved control action is plantwide Pareto optimal and equivalent to the centralized solution; Pareto optimality is achieved also in case of coupled constraints; a coordination layer is not needed. It is proved that cooperative MPC is a particular case of suboptimal MPC; exponential stability is then proved, based on exponential stability of suboptimal centralized MPC.