A suboptimal approach to distributed NMPC is proposed based on Gaussian process models of the interconnected systems dynamics and taking into account the imposed constraints. The suggested method is based on a sequential linearization of the nonlinear system dynamics and finding a suboptimal solution of the resulting Quadratic Programming (QP) problem by using distributed iterations of the dual accelerated gradient method. The main advantages of the distributed approach are that it allows the computation of the suboptimal control inputs to be done autonomously by the subsystems without the need for centralized optimization and it has a simple software implementation. The proposed method is illustrated with simulations on the simplified model of a sewer system.

基于互连系统动力学的高斯过程模型并考虑施加的约束，提出了分布式 NMPC 的次优方法。建议的方法基于非线性系统动力学的顺序线性化，并通过使用双加速梯度法的分布式迭代找到所产生的二次规划 (QP) 问题的次优解。分布式方法的主要优点是它允许次优控制输入的计算由子系统自主完成而不需要集中优化，并且它具有简单的软件实现。通过对下水道系统的简化模型进行仿真来说明所提出的方法。