Hierarchical Distributed Model Predictive Control Based On Fuzzy Negotiation

This work presents a hierarchical distributed model predictive control approach for multiple agents with cooperative negotiations based on fuzzy inference. Specifically, a fuzzy-based two-layer control architecture is proposed. In the lower control layer, there are pairwise negotiations between agents according to the couplings and the communication network. The resulting pairwise control sequences are sent to a coordinator in the upper control layer, which merges them to compute the final ones. Furthermore, conditions to guarantee feasibility and stability in the closed-loop system are provided. The proposed control algorithm has been tested on an eightcoupled tank plant via simulation.