Distributed model predictive control with flexible communication networks

A distributed model predictive control scheme that allows for the communication links between subsystems being either fully connected or partially connected, or totally disconnected is presented in this paper. By incorporating the inner product of manifest variables into the supply rate, an extended input-to-power-and-state stabilisability (IpSS) condition is firstly derived for nonlinear interconnected systems. Dynamic stabilising constraints are subsequently developed for subsystem predictive controllers based on a virtual perturbed-state-feedback strategy that accepts changes in the communication network. The stabilising constraint is rendered by a dissipation-based constraint with respect to manifest variables for nonlinear input-affine systems.