Safety-Preserving Lyapunov-Based Model Predictive Rendezvous Control for Heterogeneous Marine Vehicles Subject to External Disturbances

• Published in: IEEE transactions on cybernetics Vol. 54; no. 9; pp. 5244 - 5256
• Main Authors: Jia, Zehua, Zhang, Kunwu, Shi, Yang, Zhang, Weidong
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.09.2024
• Subjects: 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

This article investigates the cooperative rendezvous control problem for perturbed heterogeneous marine systems composed of an autonomous underwater vehicle (AUV) and an autonomous surface vehicle (ASV). A novel Lyapunov-based model predictive control (LMPC) framework is presented to accomplish safe...