Verteilte modellprädiktive Regelung nichtlinearer Systeme auf Basis einer echtzeitfähigen ADMM-Implementierung

Description

This thesis considers the real-time capable control of distributed systems. These consist of a large number of subsystems that are physically or virtually coupled. Distributed systems are a growing part of industry and daily life due to the networking of sensors and actuators. The thesis proposes a control concept based on distributed model predictive control using the ADMM algorithm. This concept is capable of controlling distributed systems in real-time. The thesis considers the methodological improvement of the ADMM algorithm, its implementation in the software framework GRAMPC-D, and the evaluation of the methodological results. At first it is shown that the computation effort for solving the local problems can be independent of the network size. It is further presented that the convergence behavior of the ADMM algorithm can be improved by the concepts of neighbor approximation and super agents and that the communication effort can be reduced by using the approach of an asynchronous execution. The real-time capability of the control concept is afterwards demonstrated by an experimental validation.