IDEAS home Printed from https://ideas.repec.org/a/hin/jnlaaa/673256.html
   My bibliography  Save this article

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

Author

Listed:
  • Lutao Liu
  • Zhilin Liu
  • Jun Zhang

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.

Suggested Citation

  • Lutao Liu & Zhilin Liu & Jun Zhang, 2014. "LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints," Abstract and Applied Analysis, Hindawi, vol. 2014, pages 1-9, July.
    • Handle: RePEc:hin:jnlaaa:673256
    DOI: 10.1155/2014/673256
    as

    Download full text from publisher

    File URL: http://downloads.hindawi.com/journals/AAA/2014/673256.pdf
    Download Restriction: no
    File URL: http://downloads.hindawi.com/journals/AAA/2014/673256.xml
    Download Restriction: no
    File URL: https://libkey.io/10.1155/2014/673256?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:hin:jnlaaa:673256. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Mohamed Abdelhakeem (email available below). General contact details of provider: https://www.hindawi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.