Based on Distributed Predictive Formation Control

Aiming at the control problem of USV formation dragging underpowered objects on water, this paper combines virtual structure and distributed predictive control algorithm. The virtual structure is used to ensure the stability of the formation. Maintaining the desired formation, the collision avoidance and obstacle avoidance functions and terminal constraints are designed under the DMPC framework, and the system stability is analyzed by Lyapunov theory. Simulation experiments demonstrate the effectiveness of this method for trajectory tracking and formation maintenance during dragging.