In this paper, a distributed model predictive control based on game theory framework is proposed for nonlinear systems with nonlinearly coupled dynamics. In our approach we consider the control of a set of sub-systems as a group of players in a cooperative situation, where a decision made by each individual player affects the decisions of the other players. The formulation of the distributed MPC as a coalitional game is done using a dual decomposition approach where the interconnection between subsystems is relaxed using Lagrange multipliers, the subsystems cooperate and decide which coalition to join according to the benefit that each can gain from that coalition. The approach is tested to a four tanks system where robustness is also proved.

针对非线性耦合动力学的非线性系统，提出了一种基于博弈论框架的分布式模型预测控制方法。在我们的方法中，我们将协作子系统中的一组子系统的控制视为一组参与者，在这种情况下，每个参与者的决策都会影响其他参与者的决策。使用双重分解方法将分布式MPC表示为联盟游戏，其中使用拉格朗日乘数放松子系统之间的互连，子系统协作并根据每个联盟可以从该联盟中获得的收益来决定加入哪个联盟。该方法已在四缸系统中进行了测试，同时也证明了其坚固性。