Separation and Rendezvous Control of the UAV-USV Subsystem Based on Distributed SMPC With Unbounded Disturbances
Shilong Li, Yakun Zhu, Pengfei Yuan, Ge Guo · IEEE Transactions on Intelligent Vehicles · 2024
The UAV-USV system is widely used in the ocean engineering as a multi-vehicle cooperative system. And model predictive control (MPC) is a main method in the area of multi-vehicle control. Most of the recent MPC of the UAV-USV (unmanned aerial vehicle-unmanned surface vehicle) systems rarely consider unknown external disturbance. Therefore, the distributed robust model predictive control (DRMPC) is proposed. However, as it is widely known, the disturbance that can be dealt with by RMPC is bounded. To deal with unbounded external disturbance, a distributed stochastic model predictive control method (DSMPC) is proposed in this paper. Considering an UAV-USV system, the UAVs separate from the USV to perform a task. When the power of the UAVs is low, the UAVs rendezvous with the USV to be charged. During the process of separation and rendezvous, unbounded disturbance in the marine environment can't be ignored. To deal with the unbounded disturbance during this process, a separation and rendezvous control method for the UAV-USV system based on DSMPC is proposed. The recursive feasibility and asymptotic stability of DSMPC are proven. A series of simulations are provided to demonstrate the effectiveness of the above methods.