Distributed Receding Horizon Control of Constrained Linear Systems with Communication Delays

This paper investigates the distributed receding horizon control (DRHC) problem for constrained linear systems subjects to communication delays. Firstly, a novel DRHC scheme is proposed by incorporating the robustness constramt into the optimization problem as well as designing the waiting mechanism for the communication delays. Second, the feasibility and stability properties are studied. We show that, if the communication delays are bounded within a given upper bound, and the cooperation weights are designed appropriately, then the overall system converges to the equilibrium point. Finally, a simulation example is used to verify the theoretical result.