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Abstract and Applied Analysis
Volume 2013 (2013), Article ID 846389, 8 pages
Research Article

Nonlinear Model Predictive Control with Terminal Invariant Manifolds for Stabilization of Underactuated Surface Vessel

1College of Information and Telecommunication, Harbin Engineering University, Harbin 150001, China
2College of Automation, Harbin Engineering University, Harbin 150001, China
3School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China

Received 21 September 2013; Accepted 14 October 2013

Academic Editor: Xiaojie Su

Copyright © 2013 Lutao Liu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A nonlinear 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 MPC, the states of the USV are steered into the constrained terminal invariant manifolds. After the terminal manifolds set is reached, a linear feedback control is used to stabilize the system. 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 it is suitable for practical application.