TY - GEN
T1 - Two-layer model predictive formation control of unmanned surface vehicle
AU - Fan, Zhenyuans
AU - Li, Huiping
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/29
Y1 - 2017/12/29
N2 - 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.
AB - 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.
KW - Distributed model predictive control
KW - Formation control
KW - Unmanned surface vehicle
UR - http://www.scopus.com/inward/record.url?scp=85050297927&partnerID=8YFLogxK
U2 - 10.1109/CAC.2017.8243858
DO - 10.1109/CAC.2017.8243858
M3 - 会议稿件
AN - SCOPUS:85050297927
T3 - Proceedings - 2017 Chinese Automation Congress, CAC 2017
SP - 6002
EP - 6007
BT - Proceedings - 2017 Chinese Automation Congress, CAC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Chinese Automation Congress, CAC 2017
Y2 - 20 October 2017 through 22 October 2017
ER -