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)...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2014-01-01
|
| Series: | Abstract and Applied Analysis |
| Online Access: | http://dx.doi.org/10.1155/2014/673256 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850234723756933120 |
|---|---|
| author | Lutao Liu Zhilin Liu Jun Zhang |
| author_facet | Lutao Liu Zhilin Liu Jun Zhang |
| author_sort | Lutao Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-101e07d1780649bc9982eff56b29329a |
| institution | OA Journals |
| issn | 1085-3375 1687-0409 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Abstract and Applied Analysis |
| spelling | doaj-art-101e07d1780649bc9982eff56b29329a2025-08-20T02:02:32ZengWileyAbstract and Applied Analysis1085-33751687-04092014-01-01201410.1155/2014/673256673256LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input ConstraintsLutao Liu0Zhilin Liu1Jun Zhang2College of Information and Telecommunication, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaCollege of Automation, Harbin Engineering University, Harbin, Heilongjiang 150001, ChinaSchool of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, ChinaA 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.http://dx.doi.org/10.1155/2014/673256 |
| spellingShingle | Lutao Liu Zhilin Liu Jun Zhang LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints Abstract and Applied Analysis |
| title | LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints |
| title_full | LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints |
| title_fullStr | LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints |
| title_full_unstemmed | LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints |
| title_short | LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints |
| title_sort | lmi based model predictive control for underactuated surface vessels with input constraints |
| url | http://dx.doi.org/10.1155/2014/673256 |
| work_keys_str_mv | AT lutaoliu lmibasedmodelpredictivecontrolforunderactuatedsurfacevesselswithinputconstraints AT zhilinliu lmibasedmodelpredictivecontrolforunderactuatedsurfacevesselswithinputconstraints AT junzhang lmibasedmodelpredictivecontrolforunderactuatedsurfacevesselswithinputconstraints |