Distributed model predictive control with communication complete failure for multi-aircrafts formation

This paper proposed a dual-mode decentralized model predictive control (DMPC) method with communication complete failure for multi-aircrafts formation. The formation problem with normal communication is formulated as decentralized model predictive control scheme based on flying state information translation and compatibility constraint. And the coupled constraint (collision avoidance) between aircrafts is taken as noncoupled constraint which is depended on compatibility constraint. The formation problem with communication complete failure is formulated as decentralized model predictive control scheme based on flying state detection and optimization of multi-aircrafts.The proposed decentralized control scheme is designed as quadratic programs with quadratic constraint. A simulation example is given to illustrate the effectiveness of the proposed scheme.