Constrained distributed MPC for LPV systems with actuator saturation and state delay

In this work, a new approach to design constrained distributed MPC is proposed for linear parameter varying (LPV) systems subject to saturating actuator and state delay. Polytopic type uncertainty and only one state delay are considered in this paper. The algorithm requires decomposing the whole system into M subsystems and solving M linear matrix inequality (LMI) optimization problems for each subsystem. An iterative online algorithm for constrained distributed MPC is developed to coordinate the distributed controllers. The algorithm is a flexible structure of robust control, which allows the independent computation of the state feedback laws for the subsystems. A numerical example is simulated to show the effectiveness of the constrained distributed MPC algorithm.