LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints

Lutao Liu, Zhilin Liu and Jun Zhang

Abstract and Applied Analysis, 2014, vol. 2014, 1-9

Abstract:

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.

Date: 2014
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/AAA/2014/673256.pdf (application/pdf)
http://downloads.hindawi.com/journals/AAA/2014/673256.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlaaa:673256

DOI: 10.1155/2014/673256

Access Statistics for this article

More articles in Abstract and Applied Analysis from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().