Distributed Predictive Control for a Class of Hybrid Systems with Event-Based Communication*

This paper proposes a strategy for distributed model predictive control (DMPC) with event-based communication for piecewise affine (PWA) systems coupled via a common cost function and, possibly non-convex, constraints. In order to achieve cooperation between subsystems, each subsystem optimizes over its own inputs and the inputs of directly interconnected systems. In the proposed scheme, all subsystems optimize in parallel in each time step, and the subsystems only communicate information to interconnected subsystems if a triggering condition is met. Under some assumptions on a terminal control law, recursive feasibility and stability of the scheme are established. Simulation results for a platoon of autonomous vehicles are used to illustrate the approach.