Safety-Preserving Lyapunov-Based Model Predictive Rendezvous Control for Heterogeneous Marine Vehicles Subject to External Disturbances - Jia, Zehua; Zhang, Kunwu; Shi, Yang; Zhang, Weidong (IEEE transactions on cybernetics, 2024)
Keywords: Autonomous surface vehicles (ASVs); Autonomous underwater vehicles; autonomous underwater vehicles (AUVs); collision avoidance; cooperative control; Lyapunov-based model predictive control (LMPC); Marine vehicles; Optimization; Predictive control; Robustness; Safety; Sea surface; Underactuated surface vessels