Distributed model predictive control of dynamically decoupled linear systems with coupled cost

This paper considers the distributed model predictive control of a number of interacting subsystems with decoupled dynamics and constraints but coupled overall cost. This paper introduces a constraint to ensure asymptotic stability of the overall system with no disturbances. When additive disturbances are present, the state of each system converges to the minimal disturbance invariant set of each individual system. The approach is demonstrated via several numerical examples.