Event-triggered distributed MPC for continuous-time nonlinear systems

In this paper we are interested in distributed control for dynamically decoupled nonlinear systems with coupled objective function. An event-triggered distributed MPC is designed to stabilize systems and optimize local and cooperative objective function. Different from existing time-triggered approaches, in this work, a contraction constraint is used to ensure stability so that the cooperation matrix can be designed freely. Sufficient conditions on recursive feasibility and stability are studied and a numerical example is given to verify our results.