Abstract This paper proposes to apply a robust distributed model predictive platooning control approach for a group of heterogeneous autonomous surface vehicles (ASVs) with the input constraint and bounded external disturbances. The control input for each ASV is composed of two parts: the optimal nominal control input and the ancillary control input. The optimal nominal control input is generated by solving a distributed MPC (DMPC) problem based on the state information of itself and its neighbors. The offline ancillary control law aims to ensure that the actual system state trajectory evolves in a hyper-tube centered along the optimal nominal state trajectory. A coupled inter-vehicle safety constraint is designed for the DMPC optimization problem to guarantee the inter-ASV collision avoidance. Theoretical results on ensuring the feasibility of the proposed robust DMPC algorithm are provided and the closed-loop systems are proved to be input-to-state stable. Numerical simulations are performed to verify the theoretical results.

中文翻译：

---

异构自主水面车辆的鲁棒分布式模型预测排队控制

摘要 本文提出对一组具有输入约束和有界外部干扰的异构自主水面车辆 (ASV) 应用鲁棒的分布式模型预测排队控制方法。每个 ASV 的控制输入由两部分组成：最佳标称控制输入和辅助控制输入。最优标称控制输入是通过基于自身及其邻居的状态信息解决分布式 MPC (DMPC) 问题生成的。离线辅助控制律旨在确保实际系统状态轨迹在以最优标称状态轨迹为中心的超管中演化。针对DMPC优化问题设计了耦合的车辆间安全约束，以保证ASV间避免碰撞。提供了确保所提出的鲁棒 DMPC 算法可行性的理论结果，并证明闭环系统是输入到状态稳定的。进行数值模拟以验证理论结果。