关键词：传感器；网络控制系统；MPC；通信
摘 要：This work studies cooperative MPC for Networked Control Systems with multiple wireless nodes. Communication between nodes is affected by random packet dropouts. An algorithm is presented to decide at each time instant which nodes will calculate the control input and which will only relay data. The nodes chosen to calculate the control values solve a cooperative MPC by communicating with their neighbors. This algorithm makes the control architecture flexible by adapting it to the possible changes in the network conditions.