Distributed Predictive Control: Stability and Feasibility Issues

We present a review of our recent work in the area of distributed model predictive control (DMPC) for large-scale decoupled systems. We formulate an optimal control problem in discrete time, where the cost function and constraints couple the dynamical behavior of the subsystems. The coupling is described through a graph where each system is a node and the control action at each node is based only on local and neighboring state information. We employ distinct predictive controllers, each associated with a different node, and analyze the properties of the proposed scheme. Sufficient stability conditions are characterized based on prediction errors. We show for the special class of unconstrained identical decoupled subsystems in continuous time, how to construct stabilizing distributed controllers based on a single local LQR problem. Finally, we highlight various methodologies and avenues of research for addressing the feasibility issues arising in DMPC schemes. Cooperative Control of Distributed Multiagent Systems. Edited by J.S. Shamma c © 2001 John Wiley & Sons, Ltd This is a Book Title Name of the Author/Editor c © XXXX John Wiley & Sons, Ltd 2 DISTRIBUTED PREDICTIVE CONTROL: STABILITY AND FEASIBILITY ISSUES 1.