Two-layer model predictive formation control of unmanned surface vehicle

Zhenyuans Fan, Huiping Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

10 引用 (Scopus)

摘要

This paper studies the model predictive formation control problems of unmanned surface vehicles (USVs). A two-layer model predictive control (MPC)-based formation control strategy is proposed. The proposed formation strategy artificially divides the model of each USV into two layers according to its kinematic model and dynamic model. Using the kinematic model, a distributed MPC algorithm is designed to ensure formation and coordination; with the generated command from the distributed MPC as tracking reference, an MPC is designed for the dynamic model to ensure optimal command tracking. Simulation and comparison studies show that the designed algorithm is computational more efficient in comparison with the centralized MPC formation algorithm.

源语言英语
主期刊名Proceedings - 2017 Chinese Automation Congress, CAC 2017
出版商Institute of Electrical and Electronics Engineers Inc.
6002-6007
页数6
ISBN(电子版)9781538635247
DOI
出版状态已出版 - 29 12月 2017
活动2017 Chinese Automation Congress, CAC 2017 - Jinan, 中国
期限: 20 10月 201722 10月 2017

出版系列

姓名Proceedings - 2017 Chinese Automation Congress, CAC 2017
2017-January

会议

会议2017 Chinese Automation Congress, CAC 2017
国家/地区中国
Jinan
时期20/10/1722/10/17

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