A Distributed Model Predictive Control Algorithm of Linear Systems Over Time-Varying Directed Graphs

This paper investigates the distributed model predictive control (DMPC) problem for a network of linear discrete-time systems with coupled constraints over time-varying directed communication network. An centralized MPC optimization problem is first designed and further transformed into a dual form. A distributed optimization algorithm termed push-sum dual gradient (PSDG) is proposed to solve the dual problem in a fully distributed way. Finally, simulation studies verify the effectiveness of the proposed distributed optimization algorithm.