A Distributed Model Predictive Control Scheme with Robustness Against Noncompliant Controllers

Abstract

A tube-based distributed model predictive control (DMPC) scheme is proposed for dynamically coupled linear systems. The control scheme is designed to guarantee local performance even when neighboring controllers are not complying with the requirements of the algorithm (e.g., they are malicious or faulty). The resulting conservativeness is minimized, for controllers aim to minimize their state and input constraint sets to reduce mutual disturbances. Also, sufficient conditions for feasibility and exponential stability are given. Finally, these ideas are illustrated and assessed with respect to other robust DMPC via a simulated example.