Architectures for distributed and hierarchical Model Predictive Control – A review

Journal of Process Control - Tập 19 Số 5 - Trang 723-731 - 2009
Riccardo Scattolini1
1Dipartimento di Elettronica e Informazione, Politecnico di Milano Via Ponzio, 34/5 - 20133 Milano (Italy)

Tóm tắt

Từ khóa


Tài liệu tham khảo

L. Acar, Some examples for the decentralized receding horizon control, in: Proceedings of the 31st IEEE Conference on Decision and Control, Tucson, Arizona, USA, 1992, pp. 1356–1359.

A. Alessio, A. Bemporad, Decentralized model predictive control of constrained linear systems, in: Proceedings of the European Control Conference, Kos, Greece, 2007, pp. 2813–2818.

A. Alessio, A. Bemporad, Stability conditions for decentralized model predictive control under packet drop communication, in: Proceedings of the American Control Conference, Seattle, Washington, USA, 2008, pp. 3577–3582.

Amigoni, 2007, A formal framework for connective stability of highly decentralized cooperative negotiations, Autonomous Agents and Multi-agent Systems, 15, 253, 10.1007/s10458-007-9011-z

B Aske, 2008, Coordinator MPC for maximizing plant throughput, Computers and Chemical Engineering, 32, 195, 10.1016/j.compchemeng.2007.05.012

T. Backx, O. Bosgra, W. Marquardt, Integration of model predictive control and optimization of processes, in: IFAC Symposium on Advanced Control of Chemical Processes, Pisa, Italy, 2000, pp. 249–260.

Baillieul, 2007, Control and communication challenges in networked real-time systems, Proceedings of the IEEE, 95, 9, 10.1109/JPROC.2006.887290

Bakule, 2008, Decentralized control: an overview, Annual Reviews in Control, 32, 87, 10.1016/j.arcontrol.2008.03.004

Basar, 1999

Biegler, 2000, Efficient solution of dynamic optimization and NMPC problems

Brdys, 2008, Hierarchical predictive control of integrated wastewater treatment systems, Control Engineering Practice, 16, 751, 10.1016/j.conengprac.2007.01.008

Camacho, 2004

Camponogara, 2002, Distributed model predictive control, IEEE Control Systems Magazine, 22, 44, 10.1109/37.980246

Cheng, 2008, Dantzig–Wolfe decomposition and plant-wide MPC coordination, Computers and Chemical Engineering, 32, 1507, 10.1016/j.compchemeng.2007.07.003

Chisci, 2001, Systems with persistent disturbances: predictive control with restricted constraints, Automatica, 37, 1019, 10.1016/S0005-1098(01)00051-6

Dashkovskiy, 2007, An ISS theorem for general networks, Mathematics of Control Signals and Systems, 19, 93, 10.1007/s00498-007-0014-8

Davison, 1990, Decentralized stabilization and pole assignment for general proper systems, IEEE Transactions on Automatic Control, 35, 652, 10.1109/9.53544

Davison, 1981, The design of controllers for the multivariable robust servomechanism problem using parameter optimization methods, IEEE Transactions on Automatic Control, 26, 93, 10.1109/TAC.1981.1102558

Diehl, 2002, Real-time optimization and nonlinear model predictive control of processes governed by differential-algebraic equations, Journal of Process Control, 12, 577, 10.1016/S0959-1524(01)00023-3

X. Du, Y. Xi, S. Li, Distributed model predictive control for large-scale systems, in: Proceedings of the IEEE American Control Conference, Arlington, VA, USA, 2001, pp. 3142–3143.

Dunbar, 2007, Distributed receding horizon control of dynamically coupled nonlinear systems, IEEE Transactions on Automatic Control, 52, 1249, 10.1109/TAC.2007.900828

Dunbar, 2006, Distributed receding horizon control for multi-vehicle formation stabilization, Automatica, 42, 549, 10.1016/j.automatica.2005.12.008

M.S. Elliott, B.P. Rasmussen, Model-based predictive control of a multi-evaporator vapor compression cooling cycle, in: Proceedings of the American Control Conference, Seattle, USA, 2008.

Engell, 2007, Feedback control for optimal process operation, Journal of Process Control, 17, 203, 10.1016/j.jprocont.2006.10.011

G. Ferrari-Trecate, L. Galbusera, M.P.E. Marciandi, R. Scattolini, A model predictive control scheme for consensus in multi-agent systems with single-integrator dynamics and input constraints, in: Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 1492–1497.

G. Ferrari-Trecate, L. Galbusera, M.P.E. Marciandi, R. Scattolini, Contractive distributed MPC for consensus in networks of single- and double-integrators, in: Proceedings of the 17th IFAC World Congress, Seoul, Korea, 2008, pp. 9033–9038.

G. Ferrari-Trecate, L. Galbusera, M.P.E. Marciandi, R. Scattolini, Model predictive control schemes for consensus in multi-agent systems with single- and double-integrator dynamics, IEEE Transactions on Automatic Control, accepted for publication.

Findeisen, 1980

Franco, 2008, Cooperative constrained control of distributed agents with nonlinear dynamics and delayed information exchange: a stabilizing receding-horizon approach, IEEE Transactions on Automatic Control, 53, 324, 10.1109/TAC.2007.914956

Garcia, 1989, Model predictive control: theory and practice – a survey, Automatica, 25, 335, 10.1016/0005-1098(89)90002-2

Goodwin, 2005, Time-domain performance limitations arising from decentralized architectures and their relationship to the RGA, International Journal of Control, 78, 1045, 10.1080/00207170500226016

Gu, 2008, A differential game approach to formation control, IEEE Transactions on Control Systems Technology, 16, 85, 10.1109/TCST.2007.899732

K.E. Häggblom, Partial relative gain: a new tool for control structure selection, in: AIChE Annual Meeting, Los Angeles, CA, USA, 1997.

He, 2006, Control structure selection based on relative interaction decomposition, International Journal of Control, 79, 1285, 10.1080/00207170600830667

Van Henten, 2009, Time-scale decomposition of an optimal control problem in greenhouse climate management, Control Engineering Practice, 17, 88, 10.1016/j.conengprac.2008.05.008

Hovd, 1994, Sequential design of decentralized controllers, Automatica, 30, 1601, 10.1016/0005-1098(94)90099-X

Iftar, 1993, Decentralized estimation and control with overlapping input state and output decomposition, Automatica, 29, 511, 10.1016/0005-1098(93)90148-M

Ikeda, 1981, Decentralized control with overlapping information sets, Journal of Optimization Theory and Application, 34, 279, 10.1007/BF00935477

Ikeda, 1984, An inclusion principle for dynamic systems, IEEE Transactions on Automatic Control, AC-43, 1040

Jadbabaie, 2003, Coordination of groups of mobile autonomous agents using nearest neighbor rules, IEEE Transactions on Automatic Control, 48, 988, 10.1109/TAC.2003.812781

M.B. Jamoom, E. Feron, M.W. McConley, Optimal distributed actuator control grouping schemes, in: Proceedings of the 37th IEEE Conference on Decision and Control, Tampa, FL, USA, 1998, pp. 1900–1905.

D. Jia, B. Krogh, Distributed model predictive control, in: Proceedings of the IEEE American Control Conference, Arlington, VA, USA, 2001, pp. 2767–2772.

D. Jia, B. Krogh, Min–max feedback model predictive control for distributed control with communication, in: Proceedings of the IEEE American Control Conference, Anchorage, AK, USA, 2002, pp. 4507–4512.

B. Johansson, A. Speranzon, M. Johansson, K. Johansson, Distributed model predictive consensus, in: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, 2006.

J. Kadam, W. Marquardt, M. Schlegel, T. Backx, O. Bosgra, P.J. Brouwer, Towards integrated dynamic real-time optimization and control of industrial processes, in: Proceedings of the Foundations of Computer-Aided Process Operations (FOCAPO2003), Coral Springs, FL, USA, 2003, pp. 593–596.

M. Kamgarpour, C. Tomlin, Convergence properties of a decentralized Kalman filter, in: Proceedings of the 47th IEEE Conference on Decision and Control, Cancun, Mexico, 2008.

Katebi, 1997, Predictive control design for large-scale systems, Automatica, 33, 421, 10.1016/S0005-1098(96)00166-5

T. Keviczky, F. Borrelli, G.J. Balas, Hierarchical design of decentralized receding horizon controllers for decoupled systems, in: Proceedings of the 43th IEEE Conference on Decision and Control, Atlantis, USA, 2004, pp. 1592–11597.

Keviczky, 2006, Decentralized receding-horizon control of large-scale dynamically decoupled systems, Automatica, 42, 2015, 10.1016/j.automatica.2006.07.008

Khalil, 1996

T. Knudsen, K. Trangbk, C.S. Kallese, Plug and play process control applied to a district heating system, in: IFAC’09 World Congress, Seoul, Korea, 2008, pp. 336–341.

Kokotovic, 1986

Lee, 1992, Model predictive control of multirate sampled-data systems: a state-space approach, International Journal of Control, 55, 153, 10.1080/00207179208934231

Li, 2005, Nash-optimization enhanced distributed model predictive control applied to a shell benchmark problem, Information Sciences, 170, 329, 10.1016/j.ins.2004.03.008

D. Limon, T. Alamo, E.F. Camacho, Input-to-state stable MPC for constrained discrete-time nonlinear systems with bounded additive uncertainties, in: Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, NV, USA, 2002, pp. 4619–4624.

Lunze, 1992

J. Lygeros, Hierarchical, hybrid control of large scale systems, Technical Report, California PATH Research Report, UCB-ITS-PRR-96-23, 1996.

Maciejowski, 2001

Magni, 2003, Robust model predictive control of nonlinear discrete-time systems, International Journal of Robust and Nonlinear control, 13, 229, 10.1002/rnc.815

Magni, 2006, Stabilizing decentralized model predictive control of nonlinear systems, Automatica, 42, 1231, 10.1016/j.automatica.2006.02.010

Magni, 2007, Robustness and robust design of MPC for nonlinear systems, vol. 358, 239

Mayne, 2000, Constrained model predictive control: stability and optimality, Automatica, 36, 789, 10.1016/S0005-1098(99)00214-9

Mayne, 2005, Robust model predictive control of constrained linear systems with bounded disturbances, Automatica, 41, 219, 10.1016/j.automatica.2004.08.019

Mercangöz, 2007, Distributed model predictive control of an experimental four-tank system, Journal of Process Control, 17, 297, 10.1016/j.jprocont.2006.11.003

Mesarovic, 1970

Michalska, 1993, Robust receding horizon control of constrained nonlinear systems, IEEE Transactions on Automatic Control, 38, 1623, 10.1109/9.262032

Moreau, 2005, Stability of multi-agent systems with time-dependent communication links, IEEE Transactions on Automatic Control, 50, 182, 10.1109/TAC.2004.841888

N. Motee, B. Sayyar-Rodsari, Optimal partitioning in distributed model predictive control, in: Proceedings of the IEEE American Control Conference, Denver, CO, USA, 2003, pp. 5300–5305.

Mutambara, 1998

Mutambara, 2000, Estimation and control for a modular wheeled mobile robot, IEEE Transactions on Control Systems Technology, 8, 35, 10.1109/87.817690

R.R. Negenborn, Multi-agent model predictive control with applications to power networks, PhD Thesis, University of Delft, 2007.

R.R. Negenborn, A.G. Beccuti, T. Demiray, S. Leirens, G. Damm, B. De Schutter, M. Morari, Supervisory hybrid model predictive control for voltage stability of power networks, in: Proceedings of the IEEE American Control Conference, New York City, USA, 2008, pp. 5444–5449.

Negenborn, 2002, Multi-agent model predictive control for transportation networks: serial versus parallel schemes, Engineering Applications of Artificial Intelligence, 21, 353, 10.1016/j.engappai.2007.08.005

R.R. Negenborn, B. De Schutter, H. Hellendoorn, Efficient implementation of serial multi-agent model predictive control by parallelization, in: Proceedings of the IEEE International Conference on Networking, Sensing and Control, London, UK, 2007, pp. 175–180.

Niederlinsky, 1971, Heuristic approach to the design of linear multivariable interaction subsystems, Automatica, 7, 691, 10.1016/0005-1098(71)90007-0

R. Olfati-Saber, Distributed Kalman filtering for sensor networks, in: Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

R. Olfati-Saber, J. Shamma, Consensus filters for sensor networks and distributed sensor fusion, in: Proceedings of the 44th Conference on Decision and Control, Seville, Spain, 2005, pp. 6698–6703.

Pappas, 2000, Hierarchically consistent control systems, IEEE Transactions on Automatic Control, 45, 1144, 10.1109/9.863598

B. Picasso, C. Romani, R. Scattolini, Hierarchical model predictive control of Wiener models, in: Proceedings of the International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, Pavia, Italy, 2008.

Qin, 2000, An overview of nonlinear model predictive control applications, 369

Qin, 2003, A survey of industrial model predictive control technology, Control Engineering Practice, 11, 733, 10.1016/S0967-0661(02)00186-7

Raimondo, 2007, Decentralized MPC of nonlinear systems: an input-to-state stability approach, International Journal of Robust and Nonlinear Control, 17, 1651, 10.1002/rnc.1214

Rao, 2001, Constrained linear state estimation – a moving horizon approach, Automatica, 37, 1619, 10.1016/S0005-1098(01)00115-7

Rao, 2003, Constrained state estimation for nonlinear discrete-time systems: stability and moving horizon approximations, IEEE Transactions on Automatic Control, 48, 246, 10.1109/TAC.2002.808470

Rao, 1999, Steady state and constraints in model predictive control, AIChE Journal, 45, 1266, 10.1002/aic.690450612

J.B. Rawlings, R. Amrit, Optimizing process economic performance using model predictive control, in: Proceedings of the International Workshop on Assessment and Future Directions of Nonlinear Model Predictive Control, Pavia, Italy, 2008.

Rawlings, 2008, Unreachable setpoints in model predictive control, IEEE Transactions on Automatic Control, 53, 2209, 10.1109/TAC.2008.928125

Rawlings, 2008, Coordinating multiple optimization-based controllers: new opportunities and challenges, Journal of Process Control, 18, 839, 10.1016/j.jprocont.2008.06.005

Richards, 2007, Robust distributed model predictive control, International Journal of Control, 80, 1517, 10.1080/00207170701491070

Salgado, 2004, MIMO interaction measure and controller structure selection, International Journal of Control, 77, 367, 10.1080/0020717042000197631

Sandell, 1978, Survey of decentralized control methods for large scale systems, IEEE Transactions on Automatic Control, 23, 108, 10.1109/TAC.1978.1101704

Scattolini, 1988, Self-tuning control of systems with infrequent and delayed output sampling, Proceedings of the IEE, Part D, 135, 213, 10.1049/ip-d.1988.0029

R. Scattolini, P. Colaneri, Hierarchical model predictive control, in: Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 4803–4808.

R. Scattolini, P. Colaneri, D. De Vito, A switched MPC approach to hierarchical control, in: Proceedings of the 17th IFAC World Congress, Seoul, Korea, 2008, pp. 7790–7795.

Scattolini, 1985, A parameter optimization approach to the design of structurally constrained regulators for discrete-time systems, International Journal of Control, 42, 177, 10.1080/00207178508933355

Scattolini, 1995, A multirate model based predictive controller, IEEE Transactions on Automatic Control, 40, 1093, 10.1109/9.388691

Seborg, 2004

Siljak, 1991

Siljak, 1996, Decentralized control and computations: status and prospects, Annual Reviews in Control, 20, 131, 10.1016/S1367-5788(97)00011-4

Siljak, 2005, Control of large scale systems: beyond decentralized feedback, Annual Reviews in Control, 29, 169, 10.1016/j.arcontrol.2005.08.003

Skogestad, 2005

Tatara, 2007, Control of complex distributed systems with distributed intelligent agents, Journal of Process Control, 17, 415, 10.1016/j.jprocont.2006.06.008

Tatjewski, 2008, Advanced control and on-line process optimization in multilayer structures, Annual Reviews in Control, 32, 71, 10.1016/j.arcontrol.2008.03.003

P. Trodden, A. Richards, Robust distributed model predictive control using tubes, in: Proceedings of the 2006 American Control Conference, Minneapolis, USA, 2006, pp. 2034–2039.

Vadigepalli, 2003, A distributed state estimation and control algorithm for plantwide processes, IEEE Transactions on Control Systems Technology, 11, 119, 10.1109/TCST.2002.806462

Vadigepalli, 2003, Structural analysis of large-scale systems for distributed state estimation and control applications, Control Engineering Practice, 11, 895, 10.1016/S0967-0661(02)00284-8

A.N. Venkat, J.B. Rawlings, S.J. Wright, Stability and optimality of distributed model predictive control, in: Proceedings of the 46th IEEE Conference on Decision and Control, Seville, Spain, 2005, pp. 6680–6685.

A.N. Venkat, J.B. Rawlings, S.J. Wright, Implementable distributed model predictive control with guaranteed performance properties, in: Proceedings of the IEEE American Control Conference, Minneapolis, USA, 2006, pp. 613–618.

Wang, 1973, On the stabilization of decentralized control systems, IEEE Transactions on Automatic Control, 18, 473, 10.1109/TAC.1973.1100362

B. Wittenmark, M.E. Salgado, Hankel-norm based interaction measure for input–output pairing, in: IFAC – 15th Triennal World Congress, Barcelona, Spain, 2002.

Yip, 2004, The effect of model fidelity on real-time optimization performance, Computers and Chemical Engineering, 28, 267, 10.1016/S0098-1354(03)00164-9

Zanin, 2002, Integrating real-time optimization into the model predictive controller of the FCC system, Control Engineering Practice, 10, 819, 10.1016/S0967-0661(02)00033-3