R.R. Negenborn, B. De Schutter, and H. Hellendoorn, "Multi-agent model predictive control for transportation networks with continuous and discrete elements," Proceedings of the 11th IFAC Symposium on Control in Transportation Systems, Delft, The Netherlands, pp. 609-614, Aug. 2006.
For several reasons, control of transportation networks like road traffic networks, power transmission networks, water distribution networks, etc. has to be done using a multi-agent control approach. We consider a multi-agent control approach in which each control agent uses Model Predictive Control (MPC) to determine its actions. Each control agent uses a model of its subnetwork and communication with its neighboring control agents to come to agreement on the evolution of interconnections and to determine optimal local inputs and states. The challenge that is addressed in this paper comes from the situation that arises when the models that the agents use contain both continuous and discrete elements, instead of one of the two exclusively. We propose an approach that deals with this hybrid behavior and results in agreement between the agents with respect to the evolution of interconnections and that moreover provides integer inputs to obtain these evolutions.