Improved Distributed Model Predictive Control with Control Planning Set

Algorithm 1

Algorithm CP-DMPC: CP-DMPC in a pseudo-algorithm format.

() Set initial parameter values

() Repeat

()  th CP-DMPC controller receives the output measurement from the sensors,

     .

()  Obtain the control input and control index parameters

      from the other CP-DMPC controllers.

()  Compute the predictions of the interaction .

()  Compute the optimal control input and broadcast it by the communication network.

()  Apply the control input into each subsystem.

() until the control procedure ends