论文标题
联盟预测控制：基于共识的联盟形成强大的法规
Coalitional predictive control: consensus-based coalition forming with robust regulation
论文作者
论文摘要
本文关注的是控制受约束动态子系统系统的问题，该系统可以平衡分散控制的性能下降与集中控制的实际成本。我们提出了一个联盟控制计划，在需要的情况下，子系统的控制者可能会将其分组为联盟并作为一个实体运作。该方案采用了一种可靠的分布式模型预测控制形式，保证了递归可行性和稳定性，但 - 唯一地 - 依赖对健壮不变集的依赖只是隐含的，从而使适用于高阶系统。强大的控制算法与基于共识理论和潜在游戏组成的联盟算法结合使用；我们建立了控制者在联盟集合中达成共识的条件。在足够的停留时间内建立了整体时变的联盟控制方案的递归可行性和闭环稳定性，并保证其存在。
This paper is concerned with the problem of controlling a system of constrained dynamic subsystems in a way that balances the performance degradation of decentralized control with the practical cost of centralized control. We propose a coalitional control scheme in which controllers of subsystems may, as the need arises, group together into coalitions and operate as a single entity. The scheme employs a robust form of distributed model predictive control for which recursive feasibility and stability are guaranteed, yet---uniquely---the reliance on robust invariant sets is merely implicit, thus enabling applicability to higher-order systems. The robust control algorithm is combined with an algorithm for coalition forming based on consensus theory and potential games; we establish conditions under which controllers reach a consensus on the sets of coalitions. The recursive feasibility and closed-loop stability of the overall time-varying coalitional control scheme are established under a sufficient dwell time, the existence of which is guaranteed.
