Ship Path Following Control Using Event-triggered Lexicographic Ordering Multi-objective Model Predictive Control

This paper applies the lexicographic ordering method to solve the multi-objective model predictive control (MOMPC) problem for ship path following, where the multiple objectives include path convergence and speed tracking. Additionally, an event-triggered mechanism is introduced to reduce the solution frequency of the multi-objective optimization problem. Firstly, a MOMPC cost function is constructed for path convergence and speed tracking. Subsequently, the lexicographic ordering method is applied to prioritize the resolution of the path convergence issue, followed by addressing the speed tracking problem under the results obtained from solving the path convergence as constraint conditions. Moreover, to reduce the communication burden, an event-triggered mechanism is integrated into the MOMPC, effectively reducing computational load while ensuring tracking effectiveness. Finally, simulation results are presented to verify the performance of the proposed method.