Robust Distributed Cooperative Rendezvous Control for Heterogeneous Marine Vehicles Using Model Predictive Control
Zehua Jia, Haibo Lu, Hongtian Chen, Weidong Zhang
Abstract
This paper investigates the cooperative rendezvous problem for intelligent surface-underwater heterogeneous marine systems and proposes a robust distributed model predictive rendezvous control scheme. The input limitations, inter-vehicle safety constraint, and external disturbances are considered simultaneously. Each vehicle can transmit and receive state information through a communication network and implement the rendezvous protocol in a parallel way. To suppress the deviation caused by disturbances, a nonlinear tube-based model predictive control (MPC) is designed, which integrates the nominal optimal action and the anti-disturbance feedback into a compound form. By constructing rendezvous safety and auxiliary constraints, collision-free rendezvous can be achieved under disturbances. Comprehensive theoretical analyses, including closed-loop stability and recursive feasibility, are provided. Simulation and comparisons are conducted to verify the proposed method.