Distributed RHC of nonlinear systems with communication delays

The distributed RHC is of great efficiency to deal with large-scale systems, but relies heavily on communication networks which may not be reliable. In this chapter, we study the distributed RHC problem for a class of continuous-time decoupled nonlinear systems subject to communication delays. By using the robustness constraint and designing the waiting mechanism, a delay-involved distributed RHC scheme is proposed. Furthermore, the iterative feasibility and stability properties are analyzed. It is shown that, if the communication delays are bounded by an upper bound, and the cooperation weights and the sampling period are designed appropriately, the overall system state converges to the equilibrium point. The theoretical results are verified by a simulation study.