Improved Distributed Model Predictive Control with Control Planning Set

Table 1

Metrics comparisons among different algorithms.

Algorithm	Centralized MPC	Distributed MPC
		Traditional DMPC	CP-DMPC
Solution	Optimal	Nash optimal	Suboptimal
Robustness	Central node failure leads to system down	Good	Good
Information	Large	Small	Smaller
Calculation load	Large	Small	Smaller