Dynamically decoupled non-linear systems with coupled cost: A distributed model predictive control approach

This paper considers the distributed model predictive control (DMPC) of non-linear systems with interacting subsystems having decoupled dynamics and constraints but coupled costs. It is first proved that a non-linear system is locally input-to-state stable with respect to a bounded disturbance acting on the control if the undisturbed system is locally asymptotically stable. By using an appropriate control parametrization and imposing an easily-verifiable constraint, DMPC controllers are defined for each individual system. Based on the fist proved result, the overall system is shown to be stable in the sense that the states of every individual system converges to the origin as time tends to infinity.