Dong, Zaopeng;
Tan, Fei;
Zhou, Wenjie;
Wang, Baolin;
Liu, Yuanchang;
(2024)
Distributed formation control of underactuated UMVs based on nonlinear model prediction algorithm with obstacle avoidance strategy incorporating relative velocity constraints.
Ocean Engineering
, 312
(Part 3)
, Article 119272. 10.1016/j.oceaneng.2024.119272.
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Abstract
The obstacle collision avoidance problem and cooperative formation control problem of unmanned marine vehicles (UMVs) formation navigation are discussed synthetically and synchronously in this paper. Firstly, by introducing hypothetical state and control variables, the UMV distributed formation control method is implemented based on a unidirectional communication topology. Meanwhile, a variable parameter linear tracking differentiator (VLTD) is designed to track the heading angle of the leader UMV and then the desired trajectory of the follower UMV is smoothed. An autoregressive model (AR model) is proposed to estimate the states of the unknown dynamic obstacle, where the relative velocity of the obstacle and UMV is integrated, and then the obstacle avoidance problem of UMV is transformed into a cost function optimization problem with dynamic distance inequality constraints. In addition, considering the effect of nonlinear inequality constraints on the solving time in NMPC optimization, we remove the nonlinear inequality constraints and reconstruct the cost function based on the external penalty function, and then an adaptive coefficient is designed to adjust the weight of the external penalty function. Finally, the effectiveness and superiority of the proposed method are verified by several simulation experiments.
| Type: | Article |
|---|---|
| Title: | Distributed formation control of underactuated UMVs based on nonlinear model prediction algorithm with obstacle avoidance strategy incorporating relative velocity constraints |
| DOI: | 10.1016/j.oceaneng.2024.119272 |
| Publisher version: | https://doi.org/10.1016/j.oceaneng.2024.119272 |
| Language: | English |
| Additional information: | This version is the author-accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Unmanned marine vehicle, Leader-follower, Cooperative formation control, Obstacle avoidance, External penalty function, Nonlinear model predictive control |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10198910 |
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