S. Riverso and G. Ferrari-Trecate. Tube-based distributed control of linear constrained systems. Technical Report 156/12, Universita' degli Studi di Pavia, 2012.
In this paper we consider a linear system structured into physically coupled subsystemsand propose an innovative distributed control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states. Our method hinges on theavailability of a decentralized stabilizing regulator for the unconstrained system and providesa two-layer controller for each subsystem. Upper controllers receive planned state trajectoriesfrom neighboring subsystems and exploit the notion of tubes for achieving robustness of stability with respect to coupling. Lower controllers generate planned trajectoriesusing Model Predictive Control (MPC) independently of the other subsystems. The proposedcontrol scheme is arguably easier to design and apply than existing distributed controllerswith similar features. A comparison of the proposed approach with existing centralized anddistributed MPC regulators is conducted using an illustrative example.