Next Article in Journal
Exploring Factors Influencing Depression: Socioeconomic Perspectives Using Machine Learning Analytics
Previous Article in Journal
A Practical Human-Centric Risk Management (HRM) Methodology
Previous Article in Special Issue
Data-Driven MPC Scheme for Inertial Platform with Uncertain Systems Against External Vibrations
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
Electronics
Volume 14
Issue 3
10.3390/electronics14030489
electronics-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Three-Dimensional Dynamic Positioning Using a Novel Lyapunov-Based Model Predictive Control for Small Autonomous Surface/Underwater Vehicles

by
Daxiong Ji
1,2,*,
Somadina Godwin Ogbonnaya
1,
Sheharyar Hussain
1,
Ahmad Faraz Hussain
1,
Zhangying Ye
3,4,
Yuangui Tang
5 and
Shuo Li
5
1
The Institute of Marine Electronics and Intelligent Systems, Ocean College, Zhejiang University, Zhoushan 316000, China
2
The Engineering Research Center of Oceanic Sensing Technology and Equipment, Ministry of Education, Zhoushan 316000, China
3
College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou 316000, China
4
Ocean Academy, Zhejiang University, Zhoushan 310058, China
5
The State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIACAS), Shenyang 110000, China
*
Author to whom correspondence should be addressed.
Electronics 2025, 14(3), 489; https://doi.org/10.3390/electronics14030489
Submission received: 29 November 2024 / Revised: 15 January 2025 / Accepted: 17 January 2025 / Published: 25 January 2025
(This article belongs to the Special Issue Multi-UAV Systems and Mobile Robots)
Versions Notes

Abstract

Small Autonomous Surface/Underwater Vehicles (S-ASUVs) are gradually attracting attention from related fields due to their small size, low energy consumption, and flexible motion. Existing dynamic positioning (DP) control approaches suffer from chronic restrictions that hinder adaptability to varying practical conditions, rendering performance poor. A new three-dimensional (3D) dynamic positioning control method for S-ASUVs is proposed to tackle this issue. Firstly, a dynamic model for the DP control problem considering thrust allocation was established deriving from dynamic models of S-ASUVs. A novel Lyapunov-based model predictive control (LBMPC) method was then designed. Unlike the conventional Lyapunov-based model predictive control (LMPC), this study used multi-variable proportional–integral–derivative (PID) control as the secondary control law, improving the accuracy and rapidity of the control performance significantly. Both the feasibility and stability were rigorously proved. A series of digital experiments using the S-ASUV model under diverse conditions demonstrate the proposed method’s advantages over existing controllers, affirming satisfactory performances for 3D dynamic positioning in complex environments.
Keywords: dynamic positioning; small autonomous surface/underwater vehicle; Lyapunov; MPC; PID dynamic positioning; small autonomous surface/underwater vehicle; Lyapunov; MPC; PID

Share and Cite

MDPI and ACS Style

Ji, D.; Ogbonnaya, S.G.; Hussain, S.; Hussain, A.F.; Ye, Z.; Tang, Y.; Li, S. Three-Dimensional Dynamic Positioning Using a Novel Lyapunov-Based Model Predictive Control for Small Autonomous Surface/Underwater Vehicles. Electronics 2025, 14, 489. https://doi.org/10.3390/electronics14030489

AMA Style

Ji D, Ogbonnaya SG, Hussain S, Hussain AF, Ye Z, Tang Y, Li S. Three-Dimensional Dynamic Positioning Using a Novel Lyapunov-Based Model Predictive Control for Small Autonomous Surface/Underwater Vehicles. Electronics. 2025; 14(3):489. https://doi.org/10.3390/electronics14030489

Chicago/Turabian Style

Ji, Daxiong, Somadina Godwin Ogbonnaya, Sheharyar Hussain, Ahmad Faraz Hussain, Zhangying Ye, Yuangui Tang, and Shuo Li. 2025. "Three-Dimensional Dynamic Positioning Using a Novel Lyapunov-Based Model Predictive Control for Small Autonomous Surface/Underwater Vehicles" Electronics 14, no. 3: 489. https://doi.org/10.3390/electronics14030489

APA Style

Ji, D., Ogbonnaya, S. G., Hussain, S., Hussain, A. F., Ye, Z., Tang, Y., & Li, S. (2025). Three-Dimensional Dynamic Positioning Using a Novel Lyapunov-Based Model Predictive Control for Small Autonomous Surface/Underwater Vehicles. Electronics, 14(3), 489. https://doi.org/10.3390/electronics14030489

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop