Distributed non-cooperative MPC with neighbor-to-neighbor communication

This paper presents a novel distributed Model Predictive Control (MPC) algorithm. This method enjoys the following properties: (i) input and state constraints can be considered; (ii) under mild assumptions, convergence of the closed loop control system is proved; (iii) it is not necessary for each subsystem to know the dynamical models governing the trajectories of the other subsystems; (iv) the transmission of information is limited, in that each subsystem only needs the reference trajectories of the state variables of its neighbors. A simulation example is reported to illustrate the main characteristics and performance of the algorithm.