Robust coalitional model predictive control with plug-and-play capabilities

This article presents a distributed implementation of model predictive controller with information exchange to manage networked system coupled dynamic subsystems. We propose coalitional control method, where local controllers coalesce into clusters improve performance, as tool solve plug-and-play problems. Our main contribution is tube-based approach that employs online optimized invariant sets. These sets are instrumental in guaranteeing recursive feasibility and stability when faced operations, i.e., subsystems joining or leaving the network. also explore inherent robustness properties absorb disturbances not covered by tubes without need group controllers. Finally, simulation results show benefits our proposed method.