Distributed MPC Via Dual Decomposition and Alternative Direction Method of Multipliers

  title={Distributed MPC Via Dual Decomposition and Alternative Direction Method of Multipliers},
  author={Farhad Farokhi and Iman Shames and Karl Henrik Johansson},
A conventional way to handle model predictive control (MPC) problems distributedly is to solve them via dual decomposition and gradient ascent. However, at each time-step, it might not be feasible to wait for the dual algorithm to converge. As a result, the algorithm might be needed to be terminated prematurely. One is then interested to see if the solution at the point of termination is close to the optimal solution and when one should terminate the algorithm if a certain distance to… CONTINUE READING
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