Distributed Predefined-Time Optimization Control for Networked Marine Surface Vehicles Subject to Set Constraints

Abstract

This paper presents a novel distributed predefined-time optimization scheme consisting of the distributed optimization estimator and the local controller for the networked marine surface vehicles. Concretely, the distributed optimization estimator is developed to estimate the optimal solution on to the set constraints. In the local control layer, a sliding mode scheme is built to guarantee that the sailing states of networked marine surface vehicles can track the optimal signals obtained by the distributed optimization estimator. Besides, the regulating time of both the estimation and the local tracking process is independent of the initial system states and can be artificially determined by directly adjusting the sum of serval control parameters. Later, a singularity avoidance scheme is further designed to avoid the possible singularity problems of the local control layer. Finally, a simulation example is given to show the efficacy of the proposed distributed predefined-time optimization algorithm.