Distributed MPC For Coordinated Path-Following

Abstract

In this paper, we consider a distributed model predictive control (MPC) algorithm for coordinated path-following. Relying on the time-critical cooperative path-following framework, which decouples space and time and reduces the coordination problem to a one-dimensional setting, we formulate a distributed MPC scheme for time coordination. Leveraging properties of the normalized Laplacian, we decouple the MPC dynamics into independent modes and derive a recursive relation linking current and predicted states. Using this structure, we prove that, for prediction horizon $K=1$ and a fixed connected communication network, the system is exponentially stable even in the presence of path-following errors. This provides a first result on the convergence analysis of discrete-time distributed MPC schemes within this framework. The proposed approach enables scalable and efficient real-time implementation with low communication overhead. Moreover, in contrast to the time-critical cooperative path-following framework, the optimization-based structure relaxes the reliance on preplanning by allowing the incorporation of mission-specific requirements, such as vehicle limitations, collision avoidance, and conflict resolution. Simulation results demonstrate applicability to complex scenarios, highlighting agility and exponential convergence under communication failures.