  The paper presents a distributed model predictive control (DMPC) scheme for
continuous-time nonlinear systems based on the alternating direction method of
multipliers (ADMM). A stopping criterion in the ADMM algorithm limits the
iterations and therefore the required communication effort during the
distributed MPC solution at the expense of a suboptimal solution. Stability
results are presented for the suboptimal DMPC scheme under two different ADMM
convergence assumptions. In particular, it is shown that the required
iterations in each ADMM step are bounded, which is also confirmed in simulation
studies.
