{
  "abstract": "This paper presents a cooperative distributed model predictive control (MPC) scheme for nonlinear continuous-time systems. The centralized optimal control problem is solved asynchronously via a fixed number of sensitivity-based distributed programming (SBDP) iterations. The proposed scheme requires only neighbor-to-neighbor communication and no synchronization between agents during optimization. Under nominal MPC stability and bounded information delay, local exponential stability is established for a sufficiently large number of per-agent SBDP iterations. Numerical and hardware-in-the-loop results on both Ethernet and Wi-Fi demonstrate the benefits of an asynchronous execution, reducing execution times by over 60% while maintaining comparable closed loop performance.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2607.03412",
  "author_total": 3,
  "authors": [
    {
      "name": "Maximilian Pierer von Esch"
    },
    {
      "name": "Andres Völz"
    },
    {
      "name": "Knut Graichen"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/9msrt88cazyca.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2607.03412",
  "fulltext_url": null,
  "id": "9msrt88cazyca",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2607.03412",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Advanced Control Systems Optimization"
    ]
  ],
  "openalex": "W7167617509",
  "pdf_url": "https://arxiv.org/pdf/2607.03412",
  "pmcid": null,
  "pmid": null,
  "published": "2026-10-26",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/9msrt88cazyca.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:35:40Z",
      "native_id": "2607.03412",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2607.03412"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Asynchronous Sensitivity-Based Distributed NMPC",
  "title_text": "Asynchronous Sensitivity-Based Distributed NMPC",
  "type": "preprint",
  "updated_at": "2026-10-30T12:35:40Z",
  "url": "https://research.draconitic.com/paper/9msrt88cazyca",
  "venue": "arXiv",
  "versions": []
}