Nonlinear Model Predictive Formation Control for Groups of Autonomous Surface Vessels

F. Fahimi (Canada)


Formation Control, Surface Vessel, Autonomous Vehicle, Nonlinear Model Predictive Control.


Designing Nonlinear Model Predictive Control (NMPC) laws for controlling multiple autonomous surface vessels in arbitrary formations in environments containing obsta cles are reported in this paper. Two leader-follower decen tralized geometrical control schemes that are required for deļ¬ning a unique two-dimensional formation are consid ered. A three-degree-of-freedomdynamic model of surface vessels has been used for the controller design. The real time optimization abilities of the NMPC method has been used to improve the response of the unactuated DOF of the vessels and to directly incorporate the local obstacle avoid ance into the formation control eliminating the need for an external local obstacle avoidance algorithm. The effec tiveness of the developed control law, even in the presence of model uncertainty and external disturbances is demon strated via computer simulations.

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