Matthias A. Müller and Frank Allgöwer

In this chapter, we describe a distributed MPC algorithm for cooperative control of a network of systems which are coupled by constraints and pursue a common, cooperative control objective. The proposed DMPC algorithm cannot only be used for classical control objectives such as set point stabilization, but also for more general cooperative control tasks such as consensus and synchronization problems. Possible application fields include teams of mobile robots, formation flight of aircrafts, as well as satellite control.