Robust tube‐based distributed MPC for PWA systems

A robust tube‐based distributed model predictive control method is proposed for spatially interconnected systems with constraints and disturbances. The system contains multiple discrete‐time piecewise affine subsystems, which are coupled to each other through states. The predictive states of each subsystem are dependent on its states, inputs, and neighbouring states, and shrinking constraints are constructed to deal with the disturbances and the model mismatches. The differences between the predicted states at the current time instant and the optimal states at the previous time instant are constrained, which improves the accuracy of the predicted model and enhances the control performance. The conditions which ensure the recursive feasibility of optimization problems and the asymptotic stability of closed‐loop system are obtained. The effectiveness of the proposed method is verified by the simulation results.