Ying-Tao Lin

Distributed Learning-based MPC for Platooning Control of Heterogeneous Autonomous Surface Vehicles

This paper presents a learning-based robust distributed model predictive control (DMPC) framework for heterogeneous autonomous surface vehicle (ASV) platoons subject to input bounds, matched disturbances, and inter-vehicle safety constraints. Each vessel solves a local, parallelizable MPC using exchanged assumed trajec...