面向大规模网络化系统的分布式预测控制（英文）
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摘要
本文将近年来关于网络化分布式预测控制(distributed model predictive contro,DMPC)设计的结果进行了总结概述.DMPC不仅仅继承了预测控制的优点而且还有分布式控制框架的特点.首先,介绍了分布式控制的系统结构设计;然后,依据预测控制中的性能指标,从3个方面对DMPC进行了介绍:基于局部性能指标的DMPC,基于邻域指标的DMPC和基于全局指标的DMPC.最后,选取3个典型例子来说明一些DMPC的有效性.
In this paper, we provide a review of recent results in the design of networked distributed model predictive control(DMPC). DMPC not only inherits advantages of model predictive control but also has characteristics of distributed control framework. Firstly, we introduce the system structure design of distributed control. Then, according to the performance index used in the MPC algorithm, we review the work on DMPC in three aspects: DMPC based on local,neighborhood and global performance index. Finally, some proposed DMPC algorithms are illustrated through three examples.
In this paper, we provide a review of recent results in the design of networked distributed model predictive control(DMPC). DMPC not only inherits advantages of model predictive control but also has characteristics of distributed control framework. Firstly, we introduce the system structure design of distributed control. Then, according to the performance index used in the MPC algorithm, we review the work on DMPC in three aspects: DMPC based on local,neighborhood and global performance index. Finally, some proposed DMPC algorithms are illustrated through three examples.
引文
[1]LI S,ZHENG Y.Distributed Model Predictive Control for PlantWide Systems[M].Singapore:John Wiley&Sons,2016.
[2]XI Yugeng.Predictive Control[M].Beijing:National Defense Industry Press,1993.(席裕庚.预测控制[M].北京:国防工业出版社,1993.)
[3]DUNBAR W B.Distributed receding horizon control of dynamically coupled nonlinear systems[J].IEEE Transactions on Automatic Control,2007,52(7):1249–1263.
[4]RAWLINGS J B,MAYNE D Q.Model Predictive Control:Theory and Design[M].Madison:Nob Hill Publishing,2009.
[5]SCATTOLINI R.Architectures for distributed and hierarchical model predictive control–a review[J].Journal of Process Control,2009,19(5):723–731.
[6]MOTEE N,SAYYAR-RODSARI B.Optimal partitioning in distributed model predictive control[C]//Proceedings of the 2003 American Control Conference.Denver,USA:IEEE,2003,6:5300–5305.
[7]CAMPONOGARA E,JIA D,KROGH B H,et al.Distributed model predictive control[J].Control Systems,IEEE,2002,22(1):44–52.
[8]CHRISTOFIDES P D,SCATTOLINI R,PE?NA D M D L,et al.Distributed model predictive control:a tutorial review and future research directions[J].Computers&Chemical Engineering,2013,51(14):21–41.
[9]AL-GHERWI W,BUDMAN H,ELKAMEL A.Robust distributed model predictive control:A review and recent developments[J].The Canadian Journal of Chemical Engineering,2011,89(5):1176–1190.
[10]AL-GHERWI W,BUDMAN H,ELKAMEL A.A robust distributed model predictive control algorithm[J].Journal of Process Control,2011,21(8):1127–1137.
[11]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play decentralized model predictive control for linear systems[J].IEEE Transactions on Automatic Control,2013,58(10):2608–2614.
[12]AL-GHERWI W,BUDMAN H,ELKAMEL A.Selection of control structure for distributed model predictive control in the presence of model errors[J].Journal of Process Control,2010,20(3):270–284.
[13]BAHETI R,GILL H.Cyber-physical systems[J].The Impact of Control Technology,2011:161–166.
[14]PARK K-J,ZHENG R,LIU X.Cyber-physical systems:milestones and research challenges[J].Computer Communications,2012:36(1):1–7.
[15]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play decentralized model predictive control[C]//The 51st IEEE Conference on Decision and Control.Maui,USA:IEEE,2012:4193–4198.
[16]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play model predictive control based on robust control invariant sets[J].Automatica,2014,50(8):2179–2186.
[17]STEWART B T,VENKAT A N,RAWLINGS J B,et al.Cooperative distributed model predictive control[J].Systems&Control Letters,2010,59(8):460–469.
[18]XI Yugeng.Predictive Control[M].2nd Edition.Beijing:National Defense Industry Press,2013.(席裕庚.预测控制[M].第2版.北京:国防工业出版社,2013.)
[19]SILDIR H,ARKUN Y,CAKAL B,et al.Plant-wide hierarchical optimization and control of an industrial hydrocracking process[J].Journal of Process Control,2013,23(9):1229–1240.
[20]ZHENG Y,LI S,QIU H.Networked coordination-based distributed model predictive control for large-scale system[J].IEEE Transactions on Control Systems Technology,2013,21(3):991–998.
[21]ZHENG Y,LI S,LI N.Distributed model predictive control over network information exchange for large-scale systems[J].Control Engineering Practice,2011,19(7):757–769.
[22]VACCARINI M,LONGHI S,KATEBI M R.Unconstrained networked decentralized model predictive control[J].Journal of Process Control,2009,19(2):328–339.
[23]LIU J,CHEN X,DE LA PE?NA D M,et al.Iterative distributed model predictive control of nonlinear systems:handling asynchronous,delayed measurements[J].IEEE Transactions on Automatic Control,2012,57(2):528–534.
[24]LI S,ZHANG Y,ZHU Q.Nash-optimization enhanced distributed model predictive control applied to the shell benchmark problem[J].Information Sciences,2005,170(2):329–349.
[25]VENKAT A N,HISKENS I A,RAWLINGS J B,et al.Distributed MPC strategies with application to power system automatic generation control[J].IEEE Transactions on Control Systems Technology,2008,16(6):1192–1206.
[26]ZHENG Y,LI S,WANG X.Distributed model predictive control for plant-wide hot-rolled strip laminar cooling process[J].Journal of Process Control,2009,19(9):1427–1437.
[27]GISELSSON P,DOAN M D,KEVICZKY T,et al.Accelerated gradient methods and dual decomposition in distributed model predictive control[J].Automatica,2013,49(3):829–833.
[28]MAESTRE J M,DE LA PE?NA D M,CAMACHO E,et al.Distributed model predictive control based on agent negotiation[J].Journal of Process Control,2011,21(5):685–697.
[29]FARINA M,SCATTOLINI R.Distributed predictive control:a noncooperative algorithm with neighbor-to-neighbor communication for linear systems[J].Automatica,2012,48(6):1088–1096.
[30]GROSS D,STURSBERG O.Distributed predictive control for a class of hybrid systems with event-based communication[J].Estimation and Control of Networked Systems.2013,46(27):383–388.
[31]DUNBAR W B,MURRAY R M.Distributed receding horizon control for multi-vehicle formation stabilization[J].Automatica,2006,42(4):549–558.
[32]DU X,XI Y,LI S.Distributed model predictive control for large-scale systems[C]//Proceedings of the 2001 American Control Conference.Arlington,USA:IEEE,2001,4:3142–3143.
[33]NASH J.Non-cooperative games[J].Annals of Mathematics,1951:286–295.
[34]ZHANG Y,LI S.Networked model predictive control based on neighbourhood optimization for serially connected large-scale processes[J].Journal of Process Control,2007,17(1):37–50.
[35]LI S,ZHENG Y,LIN Z.Impacted-region optimization for distributed model predictive control systems with constraints[J].IEEE Transactions on Automation Science and Engineering,2015,12(4):1447–1460.
[36]VENKAT A N,RAWLINGS J B,WRIGHT S J.Stability and optimality of distributed model predictive control[C]//The 44th IEEE Conference on 2005 Decision and Control,and 2005 European Control Conference.Seville,Spain:IEEE,2005:6680–6685.
[37]STEWART B T,WRIGHT S J,RAWLINGS J B.Cooperative distributed model predictive control for nonlinear systems[J].Journal of Process Control,2011,21(5):698–704.
[38]FERRAMOSCA A,LIMON D,ALVARADO I,et al.Cooperative distributed MPC for tracking[J].Automatica,2013,49(4):906–914.
[39]TRODDEN P,RICHARDS A.Cooperative distributed MPC of linear systems with coupled constraints[J].Automatica,2013,49(2):479–487.
[40]M¨ULLER M A,REBLE M,ALLG¨OWER F.A general distributed MPC framework for cooperative control[C]//Proceedings of the 18th IFAC World Congress.Milano,Italy:IFAC,2011:7987–7992.
[41]M¨ULLER M A,REBLE M,ALLG¨OWER F.Cooperative control of dynamically decoupled systems via distributed model predictive control[J].International Journal of Robust and Nonlinear Control,2012,22(12):1376–1397.
[42]YI Z,LI S.The stabilization of coordinated distributed model predictive control[J].Large Scale Complex Systems Theory and Applications,2013,46(13):182–187.
[43]MOROS?AN P-D,BOURDAIS R,DUMUR D,et al.Building temperature regulation using a distributed model predictive control[J].Energy and Buildings,2010,42(9):1445–1452.
[44]SCHEU H,MARQUARDT W.Sensitivity-based coordination in distributed model predictive control[J].Journal of Process Control,2011,21(5):715–728.
[45]GRUNE L,RANTZER A.On the infinite horizon performance of receding horizon controllers[J].IEEE Transactions on Automatic Control,2008,53(9):2100–2111.
[46]BIEGEL B,STOUSTRUP J,ANDERSEN P.Distributed MPC via dual decomposition[M]//Distributed Model Predictive Control Made Easy.Dordrecht:Springer,2014.
[47]MOROS?AN P-D,BOURDAIS R,DUMUR D,et al.A distributed MPC strategy based on Benders’decomposition applied to multisource multi-zone temperature regulation[J].Journal of Process Control,2011,21(5):729–737.
[48]YI Z.Model predictive control for accelerated cooling and controlled process[D].Shanghai:Shanghai Jiao Tong University,2010.
[49]BRDYS M,HUANG X,LEI Y.Two time-scale hierarchical control of integrated quantity and quality in drinking water distribution systems[J].IFAC Proceedings Volumes,2013,46(13):117–122.
[50]BRDYS M,ULANICKI B.Operational Control of Water Systems:Structures,Algorithms and Applications[M].Upper Saddle River,New Jersey:Prentice Hall,1994.
[51]EWALD G,ZUBOWICZ T,BRDYS M A.Multiprocessor implementation of parallel multiobjective genetic algorithm for optimized allocation of chlorination stations in drinking water distribution system-a new water quality model approach[J].IFAC Proceedings Volumes,2013,46(13):123–128.
[52]LEIRENS S,ZAMORA C,NEGENBORN R,et al.Coordination in urban water supply networks using distributed model predictive control[C]//American Control Conference.Baltimore,USA:IEEE,2010:3957–3962.
[53]DUZINKIEWICZ K,BRDYS M,CHANG T.Hierarchical model predictive control of integrated quality and quantity in drinking water distribution systems[J].Urban Water Journal,2005,2(2):125–137.
[54]BOYD S,PARIKH N,CHU E,et al.Distributed optimization and statistical learning via the alternating direction method of multipliers[J].Foundations and Trends R?in Machine Learning,2011,3(1):1–122.
[55]NISHIHARA R,LESSARD L,RECHT B,et al.A general analysis of the convergence of ADMM[C]//Proceeding of the 32nd International Conference on Machine Learing.Lille,France:JMLR org,2015,37:343–352.
[56]CONTE C.Stability and computations in cooperative distributed model predictive control[D].Eidgen¨ossische Technische Hochschule ETH Z¨urich,Nr.21834,2014.
[2]XI Yugeng.Predictive Control[M].Beijing:National Defense Industry Press,1993.(席裕庚.预测控制[M].北京:国防工业出版社,1993.)
[3]DUNBAR W B.Distributed receding horizon control of dynamically coupled nonlinear systems[J].IEEE Transactions on Automatic Control,2007,52(7):1249–1263.
[4]RAWLINGS J B,MAYNE D Q.Model Predictive Control:Theory and Design[M].Madison:Nob Hill Publishing,2009.
[5]SCATTOLINI R.Architectures for distributed and hierarchical model predictive control–a review[J].Journal of Process Control,2009,19(5):723–731.
[6]MOTEE N,SAYYAR-RODSARI B.Optimal partitioning in distributed model predictive control[C]//Proceedings of the 2003 American Control Conference.Denver,USA:IEEE,2003,6:5300–5305.
[7]CAMPONOGARA E,JIA D,KROGH B H,et al.Distributed model predictive control[J].Control Systems,IEEE,2002,22(1):44–52.
[8]CHRISTOFIDES P D,SCATTOLINI R,PE?NA D M D L,et al.Distributed model predictive control:a tutorial review and future research directions[J].Computers&Chemical Engineering,2013,51(14):21–41.
[9]AL-GHERWI W,BUDMAN H,ELKAMEL A.Robust distributed model predictive control:A review and recent developments[J].The Canadian Journal of Chemical Engineering,2011,89(5):1176–1190.
[10]AL-GHERWI W,BUDMAN H,ELKAMEL A.A robust distributed model predictive control algorithm[J].Journal of Process Control,2011,21(8):1127–1137.
[11]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play decentralized model predictive control for linear systems[J].IEEE Transactions on Automatic Control,2013,58(10):2608–2614.
[12]AL-GHERWI W,BUDMAN H,ELKAMEL A.Selection of control structure for distributed model predictive control in the presence of model errors[J].Journal of Process Control,2010,20(3):270–284.
[13]BAHETI R,GILL H.Cyber-physical systems[J].The Impact of Control Technology,2011:161–166.
[14]PARK K-J,ZHENG R,LIU X.Cyber-physical systems:milestones and research challenges[J].Computer Communications,2012:36(1):1–7.
[15]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play decentralized model predictive control[C]//The 51st IEEE Conference on Decision and Control.Maui,USA:IEEE,2012:4193–4198.
[16]RIVERSO S,FARINA M,FERRARI-TRECATE G.Plug-and-play model predictive control based on robust control invariant sets[J].Automatica,2014,50(8):2179–2186.
[17]STEWART B T,VENKAT A N,RAWLINGS J B,et al.Cooperative distributed model predictive control[J].Systems&Control Letters,2010,59(8):460–469.
[18]XI Yugeng.Predictive Control[M].2nd Edition.Beijing:National Defense Industry Press,2013.(席裕庚.预测控制[M].第2版.北京:国防工业出版社,2013.)
[19]SILDIR H,ARKUN Y,CAKAL B,et al.Plant-wide hierarchical optimization and control of an industrial hydrocracking process[J].Journal of Process Control,2013,23(9):1229–1240.
[20]ZHENG Y,LI S,QIU H.Networked coordination-based distributed model predictive control for large-scale system[J].IEEE Transactions on Control Systems Technology,2013,21(3):991–998.
[21]ZHENG Y,LI S,LI N.Distributed model predictive control over network information exchange for large-scale systems[J].Control Engineering Practice,2011,19(7):757–769.
[22]VACCARINI M,LONGHI S,KATEBI M R.Unconstrained networked decentralized model predictive control[J].Journal of Process Control,2009,19(2):328–339.
[23]LIU J,CHEN X,DE LA PE?NA D M,et al.Iterative distributed model predictive control of nonlinear systems:handling asynchronous,delayed measurements[J].IEEE Transactions on Automatic Control,2012,57(2):528–534.
[24]LI S,ZHANG Y,ZHU Q.Nash-optimization enhanced distributed model predictive control applied to the shell benchmark problem[J].Information Sciences,2005,170(2):329–349.
[25]VENKAT A N,HISKENS I A,RAWLINGS J B,et al.Distributed MPC strategies with application to power system automatic generation control[J].IEEE Transactions on Control Systems Technology,2008,16(6):1192–1206.
[26]ZHENG Y,LI S,WANG X.Distributed model predictive control for plant-wide hot-rolled strip laminar cooling process[J].Journal of Process Control,2009,19(9):1427–1437.
[27]GISELSSON P,DOAN M D,KEVICZKY T,et al.Accelerated gradient methods and dual decomposition in distributed model predictive control[J].Automatica,2013,49(3):829–833.
[28]MAESTRE J M,DE LA PE?NA D M,CAMACHO E,et al.Distributed model predictive control based on agent negotiation[J].Journal of Process Control,2011,21(5):685–697.
[29]FARINA M,SCATTOLINI R.Distributed predictive control:a noncooperative algorithm with neighbor-to-neighbor communication for linear systems[J].Automatica,2012,48(6):1088–1096.
[30]GROSS D,STURSBERG O.Distributed predictive control for a class of hybrid systems with event-based communication[J].Estimation and Control of Networked Systems.2013,46(27):383–388.
[31]DUNBAR W B,MURRAY R M.Distributed receding horizon control for multi-vehicle formation stabilization[J].Automatica,2006,42(4):549–558.
[32]DU X,XI Y,LI S.Distributed model predictive control for large-scale systems[C]//Proceedings of the 2001 American Control Conference.Arlington,USA:IEEE,2001,4:3142–3143.
[33]NASH J.Non-cooperative games[J].Annals of Mathematics,1951:286–295.
[34]ZHANG Y,LI S.Networked model predictive control based on neighbourhood optimization for serially connected large-scale processes[J].Journal of Process Control,2007,17(1):37–50.
[35]LI S,ZHENG Y,LIN Z.Impacted-region optimization for distributed model predictive control systems with constraints[J].IEEE Transactions on Automation Science and Engineering,2015,12(4):1447–1460.
[36]VENKAT A N,RAWLINGS J B,WRIGHT S J.Stability and optimality of distributed model predictive control[C]//The 44th IEEE Conference on 2005 Decision and Control,and 2005 European Control Conference.Seville,Spain:IEEE,2005:6680–6685.
[37]STEWART B T,WRIGHT S J,RAWLINGS J B.Cooperative distributed model predictive control for nonlinear systems[J].Journal of Process Control,2011,21(5):698–704.
[38]FERRAMOSCA A,LIMON D,ALVARADO I,et al.Cooperative distributed MPC for tracking[J].Automatica,2013,49(4):906–914.
[39]TRODDEN P,RICHARDS A.Cooperative distributed MPC of linear systems with coupled constraints[J].Automatica,2013,49(2):479–487.
[40]M¨ULLER M A,REBLE M,ALLG¨OWER F.A general distributed MPC framework for cooperative control[C]//Proceedings of the 18th IFAC World Congress.Milano,Italy:IFAC,2011:7987–7992.
[41]M¨ULLER M A,REBLE M,ALLG¨OWER F.Cooperative control of dynamically decoupled systems via distributed model predictive control[J].International Journal of Robust and Nonlinear Control,2012,22(12):1376–1397.
[42]YI Z,LI S.The stabilization of coordinated distributed model predictive control[J].Large Scale Complex Systems Theory and Applications,2013,46(13):182–187.
[43]MOROS?AN P-D,BOURDAIS R,DUMUR D,et al.Building temperature regulation using a distributed model predictive control[J].Energy and Buildings,2010,42(9):1445–1452.
[44]SCHEU H,MARQUARDT W.Sensitivity-based coordination in distributed model predictive control[J].Journal of Process Control,2011,21(5):715–728.
[45]GRUNE L,RANTZER A.On the infinite horizon performance of receding horizon controllers[J].IEEE Transactions on Automatic Control,2008,53(9):2100–2111.
[46]BIEGEL B,STOUSTRUP J,ANDERSEN P.Distributed MPC via dual decomposition[M]//Distributed Model Predictive Control Made Easy.Dordrecht:Springer,2014.
[47]MOROS?AN P-D,BOURDAIS R,DUMUR D,et al.A distributed MPC strategy based on Benders’decomposition applied to multisource multi-zone temperature regulation[J].Journal of Process Control,2011,21(5):729–737.
[48]YI Z.Model predictive control for accelerated cooling and controlled process[D].Shanghai:Shanghai Jiao Tong University,2010.
[49]BRDYS M,HUANG X,LEI Y.Two time-scale hierarchical control of integrated quantity and quality in drinking water distribution systems[J].IFAC Proceedings Volumes,2013,46(13):117–122.
[50]BRDYS M,ULANICKI B.Operational Control of Water Systems:Structures,Algorithms and Applications[M].Upper Saddle River,New Jersey:Prentice Hall,1994.
[51]EWALD G,ZUBOWICZ T,BRDYS M A.Multiprocessor implementation of parallel multiobjective genetic algorithm for optimized allocation of chlorination stations in drinking water distribution system-a new water quality model approach[J].IFAC Proceedings Volumes,2013,46(13):123–128.
[52]LEIRENS S,ZAMORA C,NEGENBORN R,et al.Coordination in urban water supply networks using distributed model predictive control[C]//American Control Conference.Baltimore,USA:IEEE,2010:3957–3962.
[53]DUZINKIEWICZ K,BRDYS M,CHANG T.Hierarchical model predictive control of integrated quality and quantity in drinking water distribution systems[J].Urban Water Journal,2005,2(2):125–137.
[54]BOYD S,PARIKH N,CHU E,et al.Distributed optimization and statistical learning via the alternating direction method of multipliers[J].Foundations and Trends R?in Machine Learning,2011,3(1):1–122.
[55]NISHIHARA R,LESSARD L,RECHT B,et al.A general analysis of the convergence of ADMM[C]//Proceeding of the 32nd International Conference on Machine Learing.Lille,France:JMLR org,2015,37:343–352.
[56]CONTE C.Stability and computations in cooperative distributed model predictive control[D].Eidgen¨ossische Technische Hochschule ETH Z¨urich,Nr.21834,2014.