Model predictive control of underactuated surface vessel with invariant manifolds constraints

A model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained invariant manifolds. Aimed at the special structure of USV, the invariant manifold under the given controller is constructed in terms of diffeomorphism and Lyapunov stability theory. Based on the constrained invariant manifolds, a solution to make a nonliner model predictive controller is proposed. The simulation results verified the effectiveness of the proposed method. It is shown that, based on invariant manifolds constraints, it is easy to get the MPC for the USV and is suitable for practical application.