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Abstract and Applied Analysis
Volume 2014 (2014), Article ID 673256, 9 pages
Research Article

LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints

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

Received 23 April 2014; Revised 27 June 2014; Accepted 27 June 2014; Published 14 July 2014

Academic Editor: Hamid R. Karimi

Copyright © 2014 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 inputs. Aimed at the special structure of USV, a state-dependent coefficient (SDC) under the given USV is constructed in terms of diffeomorphism and state-dependent Riccati equation (SDRE) theory. Based on linear matrix inequalities (LMIs), the states of the USV are steered into an operating region around zero. When the states reach the region, the control law is switched to stabilize the system. And the constrained control input of the considered system is solved by convex optimization based on MPC involving LMIs. The simulation results verified the effectiveness of the proposed method. It is shown that, based on LMIs, it is easy to get the MPC for the USV with input constraints.