LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints
Joint Authors
Zhang, Jun
Liu, Zhilin
Liu, Lutao
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-14
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Liu, Lutao& Liu, Zhilin& Zhang, Jun. 2014. LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints. Abstract and Applied Analysis،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1014550
Modern Language Association (MLA)
Liu, Lutao…[et al.]. LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints. Abstract and Applied Analysis No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-1014550
American Medical Association (AMA)
Liu, Lutao& Liu, Zhilin& Zhang, Jun. LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints. Abstract and Applied Analysis. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-1014550
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1014550