Decompositions of augmented Lagrange formulations for serial and parallel distributed MPC

by R.R. Negenborn

In this chapter we described two distributed MPC schemes for control of interconnected time-invariant discrete-time linear systems: a scheme with serial iterations, and a scheme with parallel iterations. Under the given assumptions, the schemes converge to a solution that a centralized controller would obtain. The schemes have originally been derived froman overall augmented Lagrange formulation in combination with either a block coordinate descent or the auxiliary problem principle. The chapter describes the characteristics of the type of system and control architecture for which the distributed MPC schemes can be used, as well as the actual steps of the schemes, availability of more theoretically oriented extensions, application oriented results, and emerging potential new applications.