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This paper is concerned with the problem of controlling a system ofconstrained dynamic subsystems in a way that balances the performancedegradation of decentralized control with the practical cost of centralizedcontrol. We propose a coalitional control scheme in which controllers ofsubsystems may, as the need arises, group together into coalitions and operateas a single entity. The scheme employs a robust form of distributed modelpredictive control for which recursive feasibility and stability areguaranteed, yet---uniquely---the reliance on robust invariant sets is merelyimplicit, thus enabling applicability to higher-order systems. The robustcontrol algorithm is combined with an algorithm for coalition forming based onconsensus theory and potential games; we establish conditions under whichcontrollers reach a consensus on the sets of coalitions. The recursivefeasibility and closed-loop stability of the overall time-varying coalitionalcontrol scheme are established under a sufficient dwell time, the existence ofwhich is guaranteed.

Coalitional predictive control: consensus-based coalition forming with robust regulation