Abstract
In this paper, a novel cooperative constrained distributed model predictive control algorithm is proposed to control the nonlinear interconnected constrained large-scale systems. In this algorithm, a novel reduced-order cooperative optimisation approach is proposed which is its main contribution that reconstructs and improves the global cost function of any local controller. In proposed algorithm, each local controller computes its optimal control by minimising the corresponding global cost function which is a combination of its own and its neighbouring subsystems’ cost functions. The sufficient conditions are derived to guarantee the recursive feasibility and closed-loop stability specifications to ensure the convergence of the overall states into the positive region which is the neighbourhood of origin. The performance of the proposed algorithm is illustrated via simulation results of a nonlinear large-scale cart-spring-damper system.
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