An Approach to Distributed Predictive Control for Tracking–Theory and Applications

In this brief paper, a new distributed model predictive control algorithm for the solution of the tracking problem is presented for systems made by a number of dynamically coupled subsystems. The method is developed according to a hierarchical structure, and it guarantees that state and control constraints are fulfilled and that the controlled outputs reach the prescribed reference values whenever possible, or their nearest feasible value when feasibility problems arise. The algorithm is used for control of a small fleet of unicycle robots, and of a simulated four-tank system.