The Non-Centralized Model Predictive Control (NC-MPC) framework in this paper refers to any distributed, hierarchical, or decentralized model predictive controller (or a combination of them) the structure of which can change over time and the control actions of which are not obtained based on a centralized computation. Within this framework, we propose suitable on-line methods to decide which information is shared and how this information is used between the different local predictive controllers operating in a decentralized, distributed, and/or hierarchical way. Evaluating all the possible structures of the NC-MPC controller leads to a combinatorial optimization problem. Therefore, we also propose heuristic reduction methods, to keep tractable the number of NC-MPC problems to be solved. To show the benefits of the proposed framework, a case study of a set of coupled water tanks is presented.

Peer Reviewed