Distributed State Estimation Based Distributed Model Predictive Control

In this work, we consider output-feedback distributed model predictive control (DMPC) based on distributed state estimation with bounded process disturbances and output measurement noise. Specifically, a state estimation scheme based on observer-enhanced distributed moving horizon estimation (DMHE) is considered for distributed state estimation purposes. The observer-enhanced DMHE ensures that the state estimates of the system reach a small neighborhood of the actual state values quickly and then maintain within the neighborhood. This implies that the estimation error is bounded. Based on the state estimates provided by the DMHE, a DMPC algorithm is developed based on Lyapunov techniques. In the proposed design, the DMHE and the DMPC are evaluated synchronously every sampling time. The proposed output DMPC is applied to a simulated chemical process and the simulation results show the applicability and effectiveness of the proposed distributed estimation and control approach.