A DECENTRALIZED MPC ALGORITHM FOR NONLINEAR SYSTEMS

In this paper a stabilizing decentralized MPC algorithm for discrete time nonlinear systems is presented. The method is developed by assuming that the overall system under control is composed by a number of subsystems, each one locally controlled with a closed-loop min-max MPC algorithm. The effect of interconnections is considered as a perturbation term. The main stability result is derived first by showing that each closed-loop sub-system is Input-to-State Stable (ISS) with respect to the effect of the interconnections and of the external disturbances and then, using a small gain theorem result, by proving that the over system is ISS with respect to external disturbances.