Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss

Algorithm 1

Delay-free DMPC.

Given 𝔼 and initial condition of vehicle 𝑖, do:

 (1) 𝑘←0.

 (2) Measure 𝐱^𝑖(𝑘) and update the information set Γ^𝑖(𝑘) based on (4).

 (3) Solve 𝒫^𝑖(𝑘) and predict the control and state trajectories 𝐮^𝑖_𝑘(⋅) and 𝐱^𝑖_𝑘(⋅).

 (4) Send the predicted state trajectory 𝐱^𝑖_𝑘(⋅) to all followers 𝑗 (where (𝑗,𝑖)∈𝔼).

 (5) Apply the control action 𝐮^𝑖_𝑘(0) to vehicle 𝑖.

 (6) Receive the trajectory 𝐱^𝑗_𝑘(⋅) from leader(s) 𝑗 (where (𝑖,𝑗)∈𝔼).

 (7) 𝑘←𝑘+1. GOTO step 2.