LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints
A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained inputs. Aimed at the special structure of USV, a state-dependent coefficient (SDC) under the given USV is constructed in terms of diffeomorphism and state-dependent Riccati equation (SDRE)...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
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| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/673256 |
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| Summary: | A nonlinear model predictive control (MPC) is proposed
for underactuated surface vessel (USV) with constrained
inputs. Aimed at the special structure of USV, a state-dependent
coefficient (SDC) under the given USV is constructed in terms
of diffeomorphism and state-dependent Riccati equation (SDRE)
theory. Based on linear matrix inequalities (LMIs), the states of
the USV are steered into an operating region around zero. When
the states reach the region, the control law is switched to stabilize
the system. And the constrained control input of the considered
system is solved by convex optimization based on MPC involving
LMIs. The simulation results verified the effectiveness of the
proposed method. It is shown that, based on LMIs, it is easy to
get the MPC for the USV with input constraints. |
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| ISSN: | 1085-3375 1687-0409 |