Research Article
Decentralized Model Predictive Control for Cooperative Multiple Vehicles Subject to Communication Loss
Given , and initial condition of vehicle i, do: | (1) . | (2) Measure , calculate delay from leader and update the delayed information vector of (10). | (3) Calculate the tube of all leaders: | For where | (i) Calculate from (25). | (ii) Calculate from the data provided by offline solution of Problem 2. | (iii) Update and update in the cost function (12). | END | (4) Solve and calculate the control action and . | (5) Send the state trajectory to the followers where. | (6) Apply the control action to individual vehicle . | (7) Receive from leaders where. | (8) . Goto step 2. |
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