Distributed Lyapunov-Based Model Predictive Control for AUV Formation Systems with Multiple Constraints

Distributed Lyapunov-Based Model Predictive Control for AUV Formation Systems with Multiple Constraints

This paper focuses on the formation tracking issue of autonomous underwater vehicles (AUVs) subject to multiple constraints in three-dimensional space. We developed a novel distributed Lyapunov-based model predictive controller (DLMPC) with a fast finite-time extended state observer (FFTESO). Initia...

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Bibliographic Details
Main Authors: Zheping Yan, Mingyao Zhang, Jiajia Zhou, Lidong Yue
Format: Article
Language:English
Published: MDPI AG 2024-02-01
Series:Journal of Marine Science and Engineering
Subjects:
autonomous underwater vehicles
finite-time extended state observer
distributed Lyapunov-based model predictive control
formation trajectory tracking
multiple constraints
Online Access:https://www.mdpi.com/2077-1312/12/3/363

Internet

https://www.mdpi.com/2077-1312/12/3/363

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