Distributed MPC: A Noncooperative Approach Based on Robustness Concepts

The Distributed Predictive Control (DPC) algorithm presented in this chapter has been designed for control of an overall system made by linear discretetime dynamically interconnected subsystems. It consists of a non-cooperative, noniterative algorithm where a neighbor-to-neighbor transmission protocol is needed. The DPC algorithm enjoys the following properties: (i) state and input constraints can be considered; (ii) convergence is guaranteed; (iii) it is not necessary for each subsystem to know the dynamical models of the other subsystems; (iv) the transmission of information is limited.