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| Model predictive flocking control ofmultiple catamaran with collision
avoidance in obstructed environments |
| JiayuZou1,Hai-TaoZhang1,WeimingJiang1 |
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| (School of Artificial Intelligence and Automation, MOE
Engineering Research Center of Autonomous Intelligent
Unmanned Systems, and State Key Laboratory of Digital
Manufacturing Equipment and Technology, Huazhong
University of Science and Technology, Wuhan 430074,
Hubei, China) |
|
| 摘要: |
| This paper develops a distributed model predictive control (DMPC)-based flocking control scheme for multi-catamaran
systems (MCSs) in complex marine environments with obstacles. Therein, a hierarchical control framework is established
to deal with the nonlinear dynamics of the catamaran. Accordingly, a DMPC method is designed to achieve coordination
for constrained MCSs with technically guaranteed inter-agent collision avoidance, and obstacle avoidance. Subsequently,
sufficient conditions are derived to guarantee both recursive feasibility and asymptotical stability of the present design.
Significantly, the analytical challenge lies in the design of terminal invariant set with respect to the desired velocity. Finally,
numerical simulations are conducted to verify the effectiveness of the present DMPC scheme. |
| 关键词: Multi-agent systems · Coordinated control · Model predictive control · Optimization |
| DOI：https://doi.org/10.1007/s11768-025-00309-y |
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| 基金项目:This work was supported in part by the National Key R&D Program
of China under Grant 2022ZD0119601, in part by the National
Natural Science Foundation of China under Grants U2141235,
62225306, 52188102, and in part by the Guangdong Basic and
Applied Research Foundation under Grant 2022B1515120069. |
|
| Model predictive flocking control ofmultiple catamaran with collisionavoidance in obstructed environments |
| Jiayu Zou1,Hai-Tao Zhang1,Weiming Jiang1 |
| (School of Artificial Intelligence and Automation, MOE
Engineering Research Center of Autonomous Intelligent
Unmanned Systems, and State Key Laboratory of Digital
Manufacturing Equipment and Technology, Huazhong
University of Science and Technology, Wuhan 430074,
Hubei, China) |
| Abstract: |
| This paper develops a distributed model predictive control (DMPC)-based flocking control scheme for multi-catamaran
systems (MCSs) in complex marine environments with obstacles. Therein, a hierarchical control framework is established
to deal with the nonlinear dynamics of the catamaran. Accordingly, a DMPC method is designed to achieve coordination
for constrained MCSs with technically guaranteed inter-agent collision avoidance, and obstacle avoidance. Subsequently,
sufficient conditions are derived to guarantee both recursive feasibility and asymptotical stability of the present design.
Significantly, the analytical challenge lies in the design of terminal invariant set with respect to the desired velocity. Finally,
numerical simulations are conducted to verify the effectiveness of the present DMPC scheme. |
| Key words: Multi-agent systems · Coordinated control · Model predictive control · Optimization |
