Distributed Lyapunov-Based Model Predictive Formation Tracking Control for Autonomous Underwater Vehicles Subject to Disturbances

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 51; no. 8; pp. 5198 - 5208
• Main Authors: Wei, Henglai, Shen, Chao, Shi, Yang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Autonomous underwater vehicles; Autonomous underwater vehicles (AUVs); Collision avoidance; Control stability; Control systems design; Control theory; Controllers; Cost function; distributed Lyapunov-based model predictive controller (DLMPC); Disturbances; extended state observer (ESO); formation tracking; Liapunov functions; ocean current disturbance; Ocean currents; Oceans; Optimization; Potential fields; Predictive control; Predictive models; Robust control; Robustness; Stability analysis; State observers; Tracking control; Tracking problem; Trajectory

This article studies the formation tracking problem of a team of autonomous underwater vehicles (AUVs) with the ocean current disturbances. A distributed Lyapunov-based model predictive controller (DLMPC) is designed such that AUVs can keep the desired formation while tracking the reference trajecto...