Receding horizon Nash game approach for distributed nonlinear control

In this study, we propose a real-time control method for nonlinear systems with multiple controllers. On the basis of the concept of the Nash equilibrium, each controller obtains an optimal strategy against another controllers. Real-time implementation can be ensured by receding horizon (RH) control using the continuation/generalized minimal residual (C/GMRES) method. We apply the proposed method to a water level control problem in a tank-network system.