Handling communication disruptions in distributed model predictive control

Abstract

In this work, we study distributed model predictive control (DMPC) of nonlinear systems subject to communication disruptions – communication channel noise and data losses – between distributed controllers. Specifically, we focus on a DMPC architecture in which one of the distributed controllers is responsible for ensuring closed-loop stability while the rest of the distributed controllers communicate and cooperate with the stabilizing controller to further improve the closed-loop performance. To handle communication disruptions, feasibility problems are incorporated in the DMPC architecture to determine if the data transmitted through the communication channel is reliable or not. Based on the results of the feasibility problems, the transmitted information is accepted or rejected by the stabilizing MPC. In order to ensure the stability of the closed-loop system under communication disruptions, each model predictive controller utilizes a stability constraint which is based on a suitable Lyapunov-based controller. The theoretical results are demonstrated through a nonlinear chemical process example.