Distributed MPC based on a cooperative game

In this work, we focus on the problem of stabilization of two constrained linear systems coupled through the inputs by two different agents which communicate in order to take a decision assuming that each agent only has partial information of the model and the state of the system. We extend previous results on distributed model predictive control and provide sufficient conditions that guarantee practical stability of the closed-loop system as well as an optimization based procedure to design the controller so that these conditions are satisfied. The theoretical results and the design procedure are illustrated through a simulation example.