Distributed Model Predictive Control for Piecewise Affine Systems Based on Switching ADMM

• 成果类型: Article
• 署名作者: Mallick, Samuel; Dabiri, Azita; De Schutter, Bart
• 署名单位: Delft University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3512334
• 发表日期: 2025
• 页码: 3727-3741
• 关键词: Couplings; optimization; switches; Convex functions; Predictive control; Heuristic algorithms; COSTS; vectors; computational complexity; Analytical models; Alternating direction method of multipliers (ADMM); distributed model predictive control (MPC); networked systems; piecewise affine (PWA) systems

摘要

In this article, we present a novel approach for distributed model predictive control (MPC) for piecewise affine (PWA) systems. Existing approaches rely on solving mixed-integer optimization problems, requiring significant computation power or time. We propose a distributed MPC scheme that requires solving only convex optimization problems. The key contribution is a novel method, based on the alternating direction method of multipliers, for solving the nonconvex optimal control problem that arises due to the PWA dynamics. We present a distributed MPC scheme, leveraging this method, that explicitly accounts for the coupling between subsystems by reaching agreement on the values of coupled states. Stability and recursive feasibility are shown under additional assumptions on the underlying system. Two numerical examples are provided, in which the proposed controller is shown to significantly improve the CPU time and closed-loop performance over existing state-of-the-art approaches.