Abstract and Applied Analysis

Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel

Lutao Liu, Zhilin Liu, and Jun Zhang

Full-text: Open access

Abstract

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.

Article information

Source
Abstr. Appl. Anal., Volume 2013, Special Issue (2013), Article ID 846389, 8 pages.

Dates
First available in Project Euclid: 26 February 2014

Permanent link to this document
https://projecteuclid.org/euclid.aaa/1393450227

Digital Object Identifier
doi:10.1155/2013/846389

Mathematical Reviews number (MathSciNet)
MR3132569

Zentralblatt MATH identifier
07095424

Citation

Liu, Lutao; Liu, Zhilin; Zhang, Jun. Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel. Abstr. Appl. Anal. 2013, Special Issue (2013), Article ID 846389, 8 pages. doi:10.1155/2013/846389. https://projecteuclid.org/euclid.aaa/1393450227


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