Sequential Distributed Model Predictive Control for State-Dependent Nonlinear Systems

Abstract

In this paper, sequential nonlinear Distributed Model Predictive Control (DMPC) algorithms for large-scale systems that can handle constraints are proposed. The proposed algorithms are based on nonlinear MPC strategy, which uses a statedependent nonlinear model to avoid the complexity of the nonlinear programming (NLP) problem. In this distributed framework, local MPCs solve convex optimization problem and exchange information via one directional communication channel at each sampling time to achieve the global control objectives of the system. Numerical simulation results show that the performance of the proposed DMPC algorithms is close to the centralized NMPC but computationally more efficient compared to the centralized one.