Self-triggered distributed model predictive control for cooperative diving of multi-AUV system

被引：14

作者：

Bian, Yougang ^{[1
,2
]}

Zhang, Junjie ^{[1
]}

Hu, Manjiang ^{[1
,2
,4
]}

Du, Changkun ^{[3
]}

Cui, Qingjia ^{[1
,2
]}

Ding, Rongjun ^{[1
,2
]}

机构：

[1] Hunan Univ, Coll Mech & Vehicle Engn, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410082, Peoples R China

[2] Hunan Univ, Wuxi Intelligent Control Res Inst, Wuxi 214115, Peoples R China

[3] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China

[4] Hunan Univ, Coll Mech & Vehicle Engn, Changsha 410082, Peoples R China

来源：

OCEAN ENGINEERING | 2023年 / 267卷

基金：

国家重点研发计划;

关键词：

AUV; Cooperative control; DMPC; Self-triggered control; AUTONOMOUS UNDERWATER VEHICLES; CONSENSUS; DMPC;

D O I：

10.1016/j.oceaneng.2022.113262

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

This paper investigates the issue of cooperative diving of a multi-autonomous underwater vehicle (AUV) system using self-triggered distributed model predictive control (DMPC). Firstly, a basic DMPC approach is proposed to realize cooperative diving, where a stability condition is derived to facilitate control design. Then, the self -triggering mechanism is introduced into the basic DMPC approach to further save communication and compu-tation resources. The triggering interval is determined with the maximum time instant satisfying the terminal constraint after solving the optimization problem, and this helps reduce the computation burden at each control loop. The feasibility and Lyapunov stability of the self-triggered DMPC approach are analyzed. Numerical simulation is provided to verify the effectiveness of the proposed method.

引用

页数：14

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