A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles

Boxu Min; Jian Gao; Xi Lu; Zhenchi Zhang; Yimin Chen; Guang Pan

doi:10.1007/978-981-99-6498-7_29

A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles

Boxu Min
, Jian Gao
, Xi Lu
, Zhenchi Zhang
, Yimin Chen
, Guang Pan

航海学院

Northwestern Polytechnical University Xian

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

This paper proposes a Lyapunov-based model predictive virtual vehicle guidance (LMPC-VV) method for path-following control of autonomous marine vehicles (AMVs). Apart from a guidance virtual vehicle for characterizing waypoints information, an additional virtual vehicle is employed to act as a reference model for path following controllers, whose trajectory is generated online by using the model predictive control (MPC) method. Especially, a contractive constraint is constructed via a backup saturated controller, by which a globally convergent and optimized motion planning considering hard velocities constraints is achieved for AMVs. The feasibility of the designed optimization problem and the closed-loop stability are rigorously proved. Simulation results are further provided to verify the effectiveness of the proposed scheme.

源语言	英语
主期刊名	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
编辑	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhouping Yin, Lianqing Liu, Zhiyong Wang
出版商	Springer Science and Business Media Deutschland GmbH
页	329-339
页数	11
ISBN（印刷版）	9789819964970
DOI	https://doi.org/10.1007/978-981-99-6498-7_29
出版状态	已出版 - 2023
活动	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, 中国期限: 5 7月 2023 → 7 7月 2023

出版系列

姓名	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
卷	14273 LNAI
ISSN（印刷版）	0302-9743
ISSN（电子版）	1611-3349

会议

会议	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
国家/地区	中国
市	Hangzhou
时期	5/07/23 → 7/07/23

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 14 水下生物

访问文件

10.1007/978-981-99-6498-7_29

其它文件与链接

链接到 Scopus 的出版物

引用此

Min, B., Gao, J., Lu, X., Zhang, Z., Chen, Y., & Pan, G. (2023). A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles. 在 H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Yin, L. Liu, & Z. Wang (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (页码 329-339). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14273 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6498-7_29

Min, Boxu ; Gao, Jian ; Lu, Xi 等. / A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. 编辑 / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhouping Yin ; Lianqing Liu ; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. 页码 329-339 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{da3aff2f85b2440380c3cb981679ebf5,

title = "A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles",

abstract = "This paper proposes a Lyapunov-based model predictive virtual vehicle guidance (LMPC-VV) method for path-following control of autonomous marine vehicles (AMVs). Apart from a guidance virtual vehicle for characterizing waypoints information, an additional virtual vehicle is employed to act as a reference model for path following controllers, whose trajectory is generated online by using the model predictive control (MPC) method. Especially, a contractive constraint is constructed via a backup saturated controller, by which a globally convergent and optimized motion planning considering hard velocities constraints is achieved for AMVs. The feasibility of the designed optimization problem and the closed-loop stability are rigorously proved. Simulation results are further provided to verify the effectiveness of the proposed scheme.",

keywords = "Autonomous marine vehicles, Model predictive control, Virtual vehicle guidance",

author = "Boxu Min and Jian Gao and Xi Lu and Zhenchi Zhang and Yimin Chen and Guang Pan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

year = "2023",

doi = "10.1007/978-981-99-6498-7\_29",

language = "英语",

isbn = "9789819964970",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "329--339",

editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhouping Yin and Lianqing Liu and Zhiyong Wang",

booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",

}

Min, B, Gao, J, Lu, X, Zhang, Z, Chen, Y & Pan, G 2023, A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles. 在 H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Yin, L Liu & Z Wang (编辑), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 卷 14273 LNAI, Springer Science and Business Media Deutschland GmbH, 页码 329-339, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, 中国, 5/07/23. https://doi.org/10.1007/978-981-99-6498-7_29

A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles. / Min, Boxu; Gao, Jian; Lu, Xi 等.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. 编辑 / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhouping Yin; Lianqing Liu; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. 页码 329-339 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14273 LNAI).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles

AU - Min, Boxu

AU - Gao, Jian

AU - Lu, Xi

AU - Zhang, Zhenchi

AU - Chen, Yimin

AU - Pan, Guang

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - This paper proposes a Lyapunov-based model predictive virtual vehicle guidance (LMPC-VV) method for path-following control of autonomous marine vehicles (AMVs). Apart from a guidance virtual vehicle for characterizing waypoints information, an additional virtual vehicle is employed to act as a reference model for path following controllers, whose trajectory is generated online by using the model predictive control (MPC) method. Especially, a contractive constraint is constructed via a backup saturated controller, by which a globally convergent and optimized motion planning considering hard velocities constraints is achieved for AMVs. The feasibility of the designed optimization problem and the closed-loop stability are rigorously proved. Simulation results are further provided to verify the effectiveness of the proposed scheme.

AB - This paper proposes a Lyapunov-based model predictive virtual vehicle guidance (LMPC-VV) method for path-following control of autonomous marine vehicles (AMVs). Apart from a guidance virtual vehicle for characterizing waypoints information, an additional virtual vehicle is employed to act as a reference model for path following controllers, whose trajectory is generated online by using the model predictive control (MPC) method. Especially, a contractive constraint is constructed via a backup saturated controller, by which a globally convergent and optimized motion planning considering hard velocities constraints is achieved for AMVs. The feasibility of the designed optimization problem and the closed-loop stability are rigorously proved. Simulation results are further provided to verify the effectiveness of the proposed scheme.

KW - Autonomous marine vehicles

KW - Model predictive control

KW - Virtual vehicle guidance

UR - https://www.scopus.com/pages/publications/85175944501

U2 - 10.1007/978-981-99-6498-7_29

DO - 10.1007/978-981-99-6498-7_29

M3 - 会议稿件

AN - SCOPUS:85175944501

SN - 9789819964970

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 329

EP - 339

BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Zou, Jun

A2 - Yang, Geng

A2 - Ouyang, Xiaoping

A2 - Liu, Honghai

A2 - Yin, Zhouping

A2 - Liu, Lianqing

A2 - Wang, Zhiyong

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023

Y2 - 5 July 2023 through 7 July 2023

ER -

Min B, Gao J, Lu X, Zhang Z, Chen Y , Pan G. A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles. 在 Yang H, Zou J, Yang G, Ouyang X, Liu H, Yin Z, Liu L, Wang Z, 编辑, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. 页码 329-339. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6498-7_29

A Lyapunov-Based Model Predictive Virtual Vehicle Guidance for Path Following Control of Autonomous Marine Vehicles

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

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引用此