Robust Cooperative Control of Dynamically Decoupled Systems Via Distributed MPC

In this paper, we design robust distributed model predictive controllers for constrained linear discrete-time systems which are subject to unknown but bounded disturbances and which are coupled with each other both via coupling constraints and a common, cooperative goal. This extends our previous results for nominal systems without disturbances. The proposed algorithm can be used both for the classical control objective of setpoint stabilization, but also for other cooperative tasks such as consensus and synchronization problems. Furthermore, we illustrate our results with a numerical example.