Distributed model predictive control for  constrained piecewise affine system with control  coupling and its application in quadruple-tank

Authors

Guoqi Zhong Department of Control Theory and Engineering, Harbin Institute of Technology. P. O. Box 3036, Science Park of Harbin Institute of Technology, No.2 Yikuang Street, Nangang District, 150080, Harbin, Heilongjiang, P.R. China Author
Zhiyuan Liu Department of Control Theory and Engineering, Harbin Institute of Technology. P. O. Box 3036, Science Park of Harbin Institute of Technology, No.2 Yikuang Street, Nangang District, 150080, Harbin, Heilongjiang, P.R. China Author
Houhua Jing Department of Mechanical and Aerospace Engineering, College of engineering, The Ohio State University. 201 W 19th Ave W198 Columbus, OH 43210, U.S.A. Author

Piecewise affine system, distributed control, model predictive control, mixed integer quadratic programming, quadruple-tank

To improve the model predictive controller design of

nonlinear system, a cooperative distributed model predictive

control (DMPC) method for a system comprised of several

constrained piecewise affine (PWA) subsystems with coupled

control information is proposed in this paper. Distributed

scheme is applied for saving time of solving optimization.

To improve the optimal performance of entire system, coop

eration was promoted with consideration to a greater portion

of the system-wide objective. The terminal positively invari

ant set and cost of the entire closed-loop system were added

to guarantee stability. The optimal problem of each subsys

tem was converted to mixed-integer quadratic programming

(MIQP) solving for obtaining control actions. This method de

composed the optimization problem of a large-scale nonlinear

system into several lower-dimension MIQPs such that solving

time could be reduced dramatically. Another advantage of the

DMPC strategy is non-convex nonlinear optimization could

be replaced by finite MIQPs, and an approximate global opti

mum could be obtained rather than a local optimum. Finally,

a numerical example and a quadruple-tank simulation are pre

sented in order to assess the proposed DMPC strategy.