This paper describes a hierarchical control scheme for the coordination of independent, asymptotically stable, and square systems with joint input and output constraints. At the higher layer of the control structure, a centralized model predictive control (MPC) problem is solved at a slow rate based on a reduced order model of the overall system to fulfill the global output request under shared resources. At the lower layer, fast MPC controllers are designed for each subsystem to remove the effects of the model mismatch introduced at the higher layer, satisfy local constraints and optimize the individual performance. The proposed algorithm allows to dynamically modify the control configuration according to plug-and-play operations. Theoretical results of feasibility and convergence are proven and a simulation study is reported to witness the potentialities of the method.

中文翻译：

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具有共享资源和即插即用功能的独立系统的协调MPC分层方案

本文描述了一种分级控制方案，用于协调具有联合输入和输出约束的独立，渐近稳定和方形系统。在控制结构的较高层，基于整个系统的降阶模型，以慢速解决了集中模型预测控制（MPC）问题，从而满足了共享资源下的全局输出请求。在较低层，为每个子系统设计了快速MPC控制器，以消除在较高层引入的模型不匹配的影响，满足局部约束并优化单个性能。所提出的算法允许根据即插即用操作动态地修改控制配置。