Fault tolerant decentralized receding horizon control for cooperative multiple vehicle systems

The decentralized receding horizon control (DRHC) of multiple cooperative vehicles with the possibility of communication failure is considered. The neighbouring vehicles exchange information on their states and predict the trajectory of neighbours at each sample time to maintain cooperation objectives. It is assumed that the communication failure is partial in nature, which in turn leads to large communication delays. A new fault detection (FD) algorithm along with a reconfigurable fault tolerant DRHC approach is developed that guarantees the safety of the entire fleet in the presence of inter-vehicle communication failures. This new method is applied to a fleet of cooperative vehicles to illustrate the proposed approach.