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<p>This paper develops a distributed model predictive control (DMPC)-based flocking control scheme for multi-catamaran systems (MCSs) in complex marine environments with obstacles. Therein, a hierarchical control framework is established to deal with the nonlinear dynamics of the catamaran. Accordingly, a DMPC method is designed to achieve coordination for constrained MCSs with technically guaranteed inter-agent collision avoidance, and obstacle avoidance. Subsequently, sufficient conditions are derived to guarantee both recursive feasibility and asymptotical stability of the present design. Significantly, the analytical challenge lies in the design of terminal invariant set with respect to the desired velocity. Finally, numerical simulations are conducted to verify the effectiveness of the present DMPC scheme.</p>

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Model predictive flocking control of multiple catamaran with collision avoidance in obstructed environments

  • 期刊论文

  • 发表日期：

    2026年3月18日

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  • Jiayu Zou,
  • Hai-Tao Zhang,
  • Weiming Jiang

摘要

This paper develops a distributed model predictive control (DMPC)-based flocking control scheme for multi-catamaran systems (MCSs) in complex marine environments with obstacles. Therein, a hierarchical control framework is established to deal with the nonlinear dynamics of the catamaran. Accordingly, a DMPC method is designed to achieve coordination for constrained MCSs with technically guaranteed inter-agent collision avoidance, and obstacle avoidance. Subsequently, sufficient conditions are derived to guarantee both recursive feasibility and asymptotical stability of the present design. Significantly, the analytical challenge lies in the design of terminal invariant set with respect to the desired velocity. Finally, numerical simulations are conducted to verify the effectiveness of the present DMPC scheme.