Distributed MPC of constrained linear systems with online decoupling of the terminal constraint

Abstract

This paper proposes a decoupling strategy for the Distributed Model Predictive Control (DMPC) for a network of dynamically-coupled linear systems. Like most DMPC approaches, the proposed DMPC uses a terminal set as a constraint in the online optimization problem for each linear system. Unlike them, the size and location of the terminal set is computed online and changes at every time step, obtained from estimates of the predicted states of other systems in the network. Such an approach results in a less conservative DMPC approach. Numerical examples using this method are provided.