Nonlinear Model Predictive Trajectory Tracking Control of Underactuated Marine Vehicles: Theory and Experiment

Haojiao Liang, Huiping Li, Demin Xu

Research output: Contribution to journalArticlepeer-review

81 Scopus citations

Abstract

The article studies the trajectory tracking control problem of underactuated marine vehicles via the nonlinear model predictive control (NMPC) strategy, where practical control and state constraints present. It is a well-known challenging issue that the conventional NMPC is not applicable for underactuated marine vehicles, due to the fact that there does not exist a local static continuous state-feedback controller to stabilize the underactuated dynamics. To resolve this issue, this article proposes to construct an auxiliary time-varying tracking controller to aid terminal constraint design in the NMPC framework, where the time-varying tracking controller borrows the ideas from Lyapunov's direct method and backstepping approach. Based on this, a novel NMPC algorithm is designed to ensure trajectory tracking control of underactuated marine vehicles. Furthermore, a systematic parameter design approach is developed. Under the designed parameters, we show that the tracking error system is input-To-state stable (ISS). Finally, the effectiveness of the designed algorithm is verified by thorough simulation and hardware experiments.

Original languageEnglish
Article number9069467
Pages (from-to)4238-4248
Number of pages11
JournalIEEE Transactions on Industrial Electronics
Volume68
Issue number5
DOIs
StatePublished - May 2021

Keywords

  • Marine vehicle control
  • model predictive control
  • tracking control
  • underactuated dynamics

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