Distributed model predictive control for polytopic uncertain systems with randomly occurring actuator saturation and packet loss

In this study, a distributed model predictive control algorithm is presented for the polytopic uncertain system subject to randomly occurring actuator saturation and packet loss. The global system is decomposed into several subsystems, and a novel distributed controller model is established to account for both the actuator saturation and packet loss in a unified representation by using two sets of Bernoulli distributed white sequences with known conditional probabilities. By transforming the non-linear feedback law into a convex hull of linear feedback laws, the distributed controllers for subsystems are obtained by solving a linear matrix inequality (LMI) optimisation problem. Finally, two simulation examples are employed to show the effectiveness of the techniques proposed in this study.