Masero Rubio, EvaBaldivieso-Monasterios, Pablo RodolfoMaestre Torreblanca, José MaríaTrodden, Paul A.Camacho, Eduardo F.2024-03-052024-03-052023-11Masero Rubio, E., Baldivieso-Monasterios, P.R., Maestre Torreblanca, J.M., Trodden, P.A. y Fernández Camacho, E. (2023). Tube-based coalitional MPC with plug-and-play features. En 22nd IFAC World Congress (7704-7709), Yokohama, Japan: Elsevier.2405-8963https://hdl.handle.net/11441/155817This paper presents a distributed setting of model predictive control (MPC) to manage linear multi-agent systems consisting of coupled subsystems. Specifically, local controllers can work in coalitions to improve performance and handle plug-and-play events. This study provides insight into a coalitional MPC strategy based on optimized tubes that handles plug-in and plug-out subsystems. Moreover, we explore an inherent robustness gap to absorb disturbances not covered by the tubes without having to group local controllers. A comparison of our approach with centralized and decentralized MPC is reported using an illustrative example.application/pdf6 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Model predictive controlDistributed controlMulti-agent systemsTime-varying systemsRobust controlPlug-and-play eventsinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/j.ifacol.2023.10.1173