Grancharova A.Johansen T.A.2024-07-102024-07-102024-07-102024-07-102011-01-011474-667010.3182/20110828-6-IT-1002.01388SCOPUS_ID:84860168693https://rlib.uctm.edu/handle/123456789/238A suboptimal approach to distributed NMPC for a class of systems consisting of nonlinear subsystems with linearly coupled dynamics subject to both state and input constraints is proposed. The approach applies a dual decomposition method to represent the original centralized NMPC problem into a distributed quasi-NMPC problem by linearization of the nonlinear system dynamics and taking into account the couplings between the subsystems. © 2011 IFAC.enConference Paper