A Distributed NMPC Scheme without Stabilizing Terminal Constraints
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 chapter we show how this scheme can be extended to MPC without stabilizing terminal constraints or costs.We show theoretically and by means of numerical simulations that under a suitable controllability condition stability and feasibility can be ensured even for rather short prediction horizons.
KeywordsOptimal Control Problem State Constraint Model Predictive Control Control Sequence Nonlinear Model Predictive Control
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