Distributed model predictive control using a chain of tubes

A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. At each time instant, the control action is computed via two robust controllers working in a nested fashion. The inner controller provides local reference trajectories computed on a fully decentralized framework. The outer controller uses this information to take into account the effects of the dynamic coupling and implement a distributed control action. The tube-based approach to robustness is employed. A supplementary constraint is included in the outer optimization problem to provide recursive feasibility of the overall controller.