Distributed Model Predictive Control and Application to Irrigation Canal

Most of the literatures use game approach to design distributed controller such as Feasible Cooperation MPC and Nash-bargaining MPC that contains the weighting for linear convex combination of objective functions. In this paper, we propose a scheme to determine the weighting values that proportional to the control load for each subsystem. To observe the effect of our weighting scheme, we apply the weighting scheme to control the irrigation canal using Feasible-Cooperation MPC and Nash-bargaining MPC. We choose the weighting values are proportional to the volume for each subsystem. We compare the result with weighting that are same for all subsystems. From the numerical simulation results, the total cost of our weighting give better result.