Synchronous distributed receding horizon control for uncertain networked systems with time delays

This study investigates the problem of distributed receding horizon control (DRHC) for constrained networked systems with polytopic uncertainty description, subject to time delays. Considering the limited communication capacity of the network and computational complexity, the approach of this study is based on a synchronous and non-iterative structure. Thus, for each subsystem, assumed predictive state evolutions of the neighbours are used. To restrict the assumed evolutions not deviating much from the true ones, the compatibility condition is derived concerning global stability. Time delays are handled by introducing an augmented polytopic uncertainty description, and the local optimisation problem is properly formulated by means of the robust receding horizon control technique. Applying the DRHC approach of this study, the recursive feasibility of the optimisation problem and exponential stability of the global system are guaranteed. An example is provided to illustrate the effectiveness of the proposed approach.