Distributed MPC control of a Water Delivery Canal based on D-ADMM

João P. Belfo; João M. Lemos ; António Pedro Aguiar

2020 28th Mediterranean Conference on Control and Automation (MED)

ID Authenticus: P-00S-RJT

DOI: 10.1109/med48518.2020.9182929

Abstract: This article describes the design of distributed Model Predictive Control (MPC) strategies based on a linear model of a water delivery canal, composed of three pools, each ending with a gate. The distributed MPC control algorithm relies on a Distributed Alternating Direction Method of Multipliers (D-ADMM) optimization framework. A non-linear model of the canal is used to identify a linearized model around an equilibrium point, which is then used to design the controllers. Since the plant states are not accessible, a Kalman filter is used to estimate them. Integral action is also included together with an anti-windup algorithm. Simulations using the nonlinear plant model are presented to show the impact of control algorithm parameters on performance. © 2020 IEEE.