复杂约束下可重构海洋浮体的分布式预测控制策略OA

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.