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This note proposes a distributed model predictive control (DMPC) scheme withswitched cost functions for a class of spatially interconnected systems withcommunication constraints. Non-iterative and parallel communication strategy isconsidered to ensure that all distributed controllers complete input updates ateach single information exchange step. The proposed DMPC scheme switches theoptimization index on a switching surface generated by control invariant sets.With the index-switching strategy, stability of the origin is ensured by aterminal control law. Convergence conditions of the optimal cost to zero areestablished taking into account the causal link between the presumed trajectoryand the optimized trajectory of the previous step. The compatibilityconstraints preserve the quadratic program property that is desired inpractical applications. It is also observed that the proposed DMPC scheme hasbenefits dealing with systems that need to take into account safety-relatedspatial constraints.

Distributed Model Predictive Control of Spatially Interconnected Systems Using Switched Cost Functions