Distributed Quasi-Nonlinear Model Predictive Control by Dual Decomposition
نویسندگان
چکیده
A suboptimal approach to distributed NMPC for a class of systems consisting of nonlinear subsystems with linearly coupled dynamics subject to both state and input constraints is proposed. The approach applies a dual decomposition method to represent the original centralized NMPC problem into a distributed quasi-NMPC problem by linearization of the nonlinear system dynamics and taking into account the couplings between the subsystems.
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