Decentralized model predictive control of nonlinear continuous systems with contractive constraints

This paper proposes a novel stabilizing decentralized model predictive control for nonlinear continuous systems. We extend the method proposed by [1] from nonlinear discrete time systems to nonlinear continuous systems. The key idea of this method is adding a contractive constraint to the optimal control problem of each subsystems. By adding the contractive constraint the whole system can be stabilizable within certain degree of interaction. The degree of the interaction is also represented by inequalities. Finally a numerical simulation is used to prove the effectiveness of the method and the method is also applied to a four-tank benchmark problem.