Distributed Model Predictive Control With Reconfigurable Terminal Ingredients for Reference Tracking

Various efforts have been devoted to developing stabilizing distributed model predictive control (MPC) schemes for tracking piecewise constant references. In these schemes, terminal sets are usually computed offline and used in the MPC online phase guarantee recursive feasibility asymptotic stability. Maximal invariant do not necessarily respect structure of network, hindering implementation controller. On other hand, ellipsoidal structure, but may lead conservative schemes. this article, a novel scheme is proposed reference networked dynamical systems, where ingredients reconfigured depending on closed-loop states alleviate aforementioned issues. The resulting nonconvex infinite-dimensional problem approximated using quadratic program. tested simulation, solved optimization.