Distributed output feedback model predictive control for a team of coupled linear subsystems

摘要

A distributed output feedback model predictive control (MPC) algorithm is proposed for a team of linear discrete-time subsystems, for which the states are not measurable. The subsystems are coupled by the cost function. A synchronous update strategy is adopted to formulate a tractable optimisation problem in distributed manner. The terminal controller is specified as the form of output feedback. The weight matrix shared by the terminal region and the terminal cost is designed by solving one optimisation problem. Thereby the terminal region is positively invariant with the terminal controller. Furthermore, the compatibility constraint is tailored for each subsystem to confine the deviation between the real outputs and its assumed ones. The recursive feasibility of the resulting optimisation problem is ensured and the stability of the whole system in closed-loop operation is guaranteed. Finally, a numerical example is given to illustrate the effectiveness of the proposed algorithm, which can perform faster than the corresponding centralised MPC in spite of a little higher cost.