TY - GEN
T1 - A DMPC-Based Approach to Circular Cooperative Path-following Control of Unmanned Underwater Vehicles
AU - Hu, Jiwei
AU - Jin, Bo
AU - Li, Huiping
AU - Yan, Weisheng
AU - Liu, Mingyong
AU - Cui, Rongxin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - As a class of important industrial Cyber-Physical systems, multiple unmanned underwater vehicle systems (UUVs) connected via acoustic communication find widely applications in many maritime missions and underwater operations. This paper studies the circular cooperative path-following control problem of a group of UUVs subject to system constraints, where the distributed model predictive control (DMPC) approach is proposed to achieve optimal circular formation. Based on the idea from virtual vehicles, the error dynamic of each UUV with respect to its desired virtual vehicle is first obtained. Then the cost function is designed by penalizing the path-following error and the angle inconsistency in a circle between two UUVs within a communication range. With this cost function, a DMPC problem is formulated to provide distributed path-following control law for each UUV. Finally, the effectiveness of the proposed approach is verified by a simulation study.
AB - As a class of important industrial Cyber-Physical systems, multiple unmanned underwater vehicle systems (UUVs) connected via acoustic communication find widely applications in many maritime missions and underwater operations. This paper studies the circular cooperative path-following control problem of a group of UUVs subject to system constraints, where the distributed model predictive control (DMPC) approach is proposed to achieve optimal circular formation. Based on the idea from virtual vehicles, the error dynamic of each UUV with respect to its desired virtual vehicle is first obtained. Then the cost function is designed by penalizing the path-following error and the angle inconsistency in a circle between two UUVs within a communication range. With this cost function, a DMPC problem is formulated to provide distributed path-following control law for each UUV. Finally, the effectiveness of the proposed approach is verified by a simulation study.
KW - circular formation
KW - cooperative path-following
KW - Distributed model predictive control (DMPC)
KW - system constraints
UR - https://www.scopus.com/pages/publications/85070623841
U2 - 10.1109/ISIE.2019.8781231
DO - 10.1109/ISIE.2019.8781231
M3 - 会议稿件
AN - SCOPUS:85070623841
T3 - IEEE International Symposium on Industrial Electronics
SP - 1207
EP - 1212
BT - Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Y2 - 12 June 2019 through 14 June 2019
ER -