A pragmatic approach to distributed nonlinear model predictive control: Application to a hydrostatic drivetrain

作者：Dutta Abhishek^*; Ionescu Clara; De Keyser Robain

来源：Optimal Control Applications and Methods, 2015, 36(3): 369-380.

DOI：10.1002/oca.2141

• distributed control
• nonlinear control
• predictive control
• hydrostatic drive

The global control of large-scale production machines composed of interacting subsystems is a challenging problem due to the intrinsic presence of high coupling, constraints, nonlinearity, and communication limitations. In this work, a pragmatic approach to distributed nonlinear model predictive control (DNMPC) is presented with guaranteed decrease in cost. Furthermore, in order to tackle time-varying process dynamics, a learning algorithm is developed, thereby improving the performance of the global control. The proposed control framework is experimentally validated on a hydrostatic drivetrain, which exhibits nonlinear dynamics, strongly interacting subsystems. The experimental results indicate that good tracking performance and disturbance rejection can be obtained by the proposed DNMPC.

• 出版日期2015-6