Suboptimality Analysis of Distributed Quasi-Nonlinear Model Predictive Control

A suboptimal approach to distributed NMPC for systems consisting of nonlinear subsystems with nonlinearly coupled dynamics subject to both state and input constraints is proposed. The approach applies linearization and a dynamic dual decomposition method to reformulate the original centralized NMPC problem into a distributed quasi-NMPC problem. An estimate of the degree of suboptimality of the distributed quasi-NMPC control in closed-loop with the nonlinear system is derived.