Nash-Based Distributed MPC for Multi-Rate Systems
In this chapter, a new Nash-based distributed MPC method is proposed to control large-scale multi-rate systems with linear dynamics that are coupled via inputs. These systems are multi-rate systems in the sense that either output measurements or input upd
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Nash-Based Distributed MPC for Multi-Rate Systems S. Roshany-Yamchi, R. R. Negenborn and A. A. Cornelio
Abstract In this chapter, a new Nash-based distributed MPC method is proposed to control large-scale multi-rate systems with linear dynamics that are coupled via inputs. These systems are multi-rate systems in the sense that either output measurements or input updates are not available at certain sampling times. Such systems can arise when the number of sensors is less than the number of variables to be controlled or when measurements of outputs cannot be completed simultaneously because of applicational limitations. The multi-rate nature gives rise to a lack of information which will cause uncertainty in the system’s performance. To compensate for the information loss due to the multi-rate nature of the systems under study, a distributed Kalman filter is proposed to provide an optimal estimate of the missing information.
21.1 Introduction Many practical control problems involve measurements sampled at multiple rates. One of the common cases arises when the process outputs or controlled variables are measurable only with large sampling delays and intervals and secondary measurements must be utilized in order to design an effective control system [1]. The secondary measurements are usually sampled at much higher rates and consequently, S. Roshany-Yamchi (B) NIMBUS Center for Embedded Research, Cork Institute of Technology, Cork, Ireland e-mail: [email protected] R. R. Negenborn Department of Marine and Transport Technology, Delft University of Technology, Delft, The Netherlands e-mail: [email protected] A. A. Cornelio Department of Electrical Engineering, Mercedes Benz R&D, Bangalore, India e-mail: [email protected]
J. M. Maestre and R. R. Negenborn (eds.), Distributed Model Predictive Control 341 Made Easy, Intelligent Systems, Control and Automation: Science and Engineering 69, DOI: 10.1007/978-94-007-7006-5_21, © Springer Science+Business Media Dordrecht 2014
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a multi-rate system results. In multi-rate systems, either output measurements or input updates are not available at certain sampling times. Such systems can arise, e.g. when the number of sensors is less than the number of variables to be controlled or when measurements of outputs cannot be completed simultaneously because of applicational limitations. The multi-rate nature gives rise to a lack of information which will cause uncertainty in the system’s performance. In order to deal with the lack of information at the faster rates, state estimation techniques in combination with control methods are typically used. In multi-rate plants, either the measurements are available less frequently or the control actions are made at a lower rate. Such systems can be encountered in many industrial applications [2–5]. In the process industry, for instance, quality variables such as product concentration or average molecular weight distribution in a polymerization process, can be evaluated/updated at much s
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