DISTRIBUTED ROBUST MPC FOR CONSTRAINED SYSTEMS WITH POLYTOPIC DESCRIPTION

We address the distributed model predictive control (MPC) of a set of polytopic uncertain local systems with decoupled dynamics, but with a coupled global cost function. This is motivated mainly by two previous techniques. One is the distributed MPC for nominal nonlinear systems, which decomposes the global optimal control problem into the MPC of each local system, and applies state compatibility constraint for stability. The other is the centralized MPC for polytopic uncertain systems which parametrizes the infinite horizon control moves into N free control moves followed by a state feedback law. The compatibility constraint to each local controller is systematically re-allocated, by deriving and disassembling a global compatibility condition. The global closed-loop system is shown to be exponentially stable provided that all the local optimizers are feasible at the initial time. A simulation example is given to show the effectiveness of the distributed MPC.