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Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel
Joint Authors
Zhang, Jun
Liu, Zhilin
Liu, Lutao
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-26
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds.
Aimed at the special structure of USV, the invariant manifold under the given controller is constructed in terms of diffeomorphism and Lyapunov stability theory.
Based on MPC, the states of the USV are steered into the constrained terminal invariant manifolds.
After the terminal manifolds set is reached, a linear feedback control is used to stabilize the system.
The simulation results verified the effectiveness of the proposed method.
It is shown that, based on invariant manifolds constraints, it is easy to get the MPC for the USV and it is suitable for practical application.
American Psychological Association (APA)
Liu, Lutao& Liu, Zhilin& Zhang, Jun. 2013. Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel. Abstract and Applied Analysis،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-502891
Modern Language Association (MLA)
Liu, Lutao…[et al.]. Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel. Abstract and Applied Analysis No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-502891
American Medical Association (AMA)
Liu, Lutao& Liu, Zhilin& Zhang, Jun. Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel. Abstract and Applied Analysis. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-502891
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-502891