A distributed NMPC scheme without stabilizing terminal constraints

@inproceedings{Grne2010ADN,
  title={A distributed NMPC scheme without stabilizing terminal constraints},
  author={Lars Gr{\"u}ne and Karl Worthmann},
  year={2010}
}
We consider a distributed NMPC scheme in which the individual systems are coupled via state constraints. In order to avoid violation of the constraints, the subsystems communicate their individual predictions to the other subsystems once in each sampling period. For this setting, Richards and How have proposed a sequential distributed MPC formulation with stabilizing terminal constraints. In this paper we show how this scheme can be extended to MPC without stabilizing terminal constraints or… CONTINUE READING

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