Sensitivity-based distributed model predictive control: synchronous and asynchronous execution compared to ADMM

Pierer von Esch M, Völz A, Graichen K (2024)

Publication Type: Journal article

Publication year: 2024

Journal

At-Automatisierungstechnik Oldenbourg Verlag

Book Volume: 72

Pages Range: 91-106

Journal Issue: 2

DOI: 10.1515/auto-2023-0050

Abstract

This paper presents synchronous and asynchronous formulations of a sensitivity-based algorithm for solving distributed continuous-time nonlinear optimal control problems with a neighbor-affine structure. Sensitivities are defined in an optimal control context and utilized to ensure coordination between agents. By using delayed data in the asynchronous formulation, idle times of agents are reduced and faster execution of the algorithm is achieved. The convergence behavior w.r.t. topology and coupling strength is investigated in a numerical simulation and the execution time is evaluated on distributed hardware with communication over TCP in comparison to the alternating direction method of multipliers (ADMM) algorithm.

Authors with CRIS profile

Maximilian Pierer von Esch Chair of Automatic Control Andreas Völz Chair of Automatic Control Knut Graichen Chair of Automatic Control

How to cite

APA:

Pierer von Esch, M., Völz, A., & Graichen, K. (2024). Sensitivity-based distributed model predictive control: synchronous and asynchronous execution compared to ADMM. At-Automatisierungstechnik, 72(2), 91-106. https://doi.org/10.1515/auto-2023-0050

MLA:

Pierer von Esch, Maximilian, Andreas Völz, and Knut Graichen. "Sensitivity-based distributed model predictive control: synchronous and asynchronous execution compared to ADMM." At-Automatisierungstechnik 72.2 (2024): 91-106.

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