Robust distributed EMPC of constrained nonlinear systems over disturbed communication networks

Abstract

This paper proposes a robust distributed economic model predictive control (EMPC) strategy for constrained nonlinear systems affected by communication disturbances. The control strategy is formulated within a min–max optimization framework that explicitly addresses communication uncertainties. The controller is determined by online solving a receding horizon economic min–max problem with embedded contractive constraints. Sufficient conditions are provided to ensure recursive feasibility and input-to-state stability of the resulted closed-loop system under disturbances. The effectiveness and robustness of the proposed strategy are validated through a case study of a five-vehicle platoon.