Cooperative Stochastic MPC Under Hard Input Constraints and Event-Triggered Communication

Perez-Salesa, Irene (Universidad de Zaragoza) ; Dimarogonas, Dimos V. ; Sagüés, Carlos (Universidad de Zaragoza) ; Aldana-López, Rodrigo (Universidad de Zaragoza)

Resumen: In this work, we develop a new distributed output-feedback stochastic model-predictive control (SMPC) proposal for a plant that is cooperatively regulated by a set of actuator nodes. Contrary to most approaches, we consider hard constraints on the actuators, and we appropriately tighten the constraints to ensure recursive feasibility with a given probability, despite the stochastic noise present in the system. To lighten the communication load, the constraint design is performed offline, and an event-triggering mechanism is included, so that the nodes only need to transmit their local state estimates to neighbors at event instants during online execution. We prove constraint satisfaction and stability of our proposal, and we include simulation results showing that similar control performance to the centralized case can be achieved by our distributed SMPC with reduced communication.

Idioma: Inglés

DOI: 10.1109/TCNS.2025.3648472

Año: 2025

Publicado en: IEEE Transactions on Control of Network Systems 13, 1 (2025), 436-448
ISSN: 2325-5870

Tipo y forma: Article (Published version)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)