Decentralized Receding Horizon Control for Cooperative Multiple Vehicles Subject to Communication Delay

The fault-tolerant decentralized receding horizon control (DRHC) system can address faults which leads to large communication delays. This approach provides two key features that the tail of the cost function is estimated to account for large communication delays and second, the development of the tube-based RHC provide guaranteed formation safety from possible collisions. In the fault-free condition the high performance communication channel is used which leads to small communication delays and in the faulty condition the low performance communication channel is used that leads to large communication delays. In the faulty conditions the vehicles receive the delayed information from the faulty neighbor and leads to the nondelayed information from the fault-free neighbors. Faulty conditions due to the large communication delay results in the lack of updated information on the trajectory of the neighbors which can make collisions possible. These collisions can be avoided by adding an extra distance to the desired relative distance between healthy and faulty vehicles.