Alexandra Grancharova and Tor Arne Johansen
A suboptimal approach to distributed Nonlinear Model Predictive Control (NMPC) for systems consisting of nonlinear subsystems with nonlinearly coupled dynamics subject to both state and input constraints is proposed. The approach applies a dynamic dual decomposition method to reformulate the original centralized NMPC problem into a distributed quasi-NMPC problem by linearization of the nonlinear system dynamics and taking into account the couplings between the subsystems. The developed approach is based entirely on distributed on-line optimization (by gradient iterations) and can be applied to large-scale nonlinear systems. The theoretical results related to the application of the distributedMPC approach to both linear and nonlinear systems are outlined and some simulation results are provided.