中国海洋大学学报（自然科学版）2026，Vol.56Issue(6)：114-125,12.DOI:10.16441/j.cnki.hdxb.20250134
复杂约束下可重构海洋浮体的分布式预测控制策略
Distributed Model Predictive Control Strategy for Reconfigurable Marine Floating Body with Complex Constraints
摘要
Abstract
To address the complex constraints in formation control of reconfigurable marine floating bodies,including collision avoidance,communication limitations,and obstacle evasion,this paper pro-poses a robust distributed model predictive control(DMPC)strategy.By integrating collision avoid-ance,communication range constraints,obstacle posed restrictions,and state/input limitations into a neighboring network optimization framework,a cooperative control scheme for multiple floating body systems is established.Combining the alternating direction method of multipliers(ADMM)with local controller consensus protocols,a distributed predictive controller based on a virtual leader is designed.Compatibility constraints and a robust compensation mechanism are introduced,and subsequent theoret-ical analysis demonstrates the recursive feasibility of the algorithm and the asymptotic stability of the closed-loop system.Simulation results indicate that the proposed method achieves effective trajectory tracking and formation maintenance under complex constraints,while significantly reducing computa-tional complexity compared to traditional DMPC approaches.This study provides a robust and computa-tionally efficient solution for multi-floating-body cooperative control in dynamic marine environments.关键词
协同编队控制/分布式优化/模型预测控制/可重构海洋浮体/交替方向乘子法Key words
cooperative formation control/distributed optimization/model predictive control/recon-figurable marine floating body/alternating direction method of multipliers分类
信息技术与安全科学引用本文复制引用
付东飞,陈功洵,王继龙,高旭辉..复杂约束下可重构海洋浮体的分布式预测控制策略[J].中国海洋大学学报（自然科学版）,2026,56(6):114-125,12.基金项目
山东省自然科学基金项目(ZR2022MF280)资助Supported by the Natural Science Foundation of Shandong Province(ZR2022MF280) （ZR2022MF280）
