Distributed Lyapunov-Based Nonlinear Model Predictive Control for Underwater Vehicle-Dual-Manipulator System

This paper proposes a distributed Lyapunov-based nonlinear model predictive control (DLMPC) strategy to address the stability and timeliness issues arising from the high-dimensional state variables of the UVDMS. The strategy employs a distributed design, with separate Lyapunov functions tailored to the control characteristics of both the vehicle and the manipulator. Given that the vehicle serves as a floating base, it requires strong disturbance rejection capabilities and the ability to respond efficiently to time-varying environmental conditions. To address these needs, an active disturbance rejection control (ADRC) law is introduced as an auxiliary function. The manipulator, as the core component for task execution, face challenges such as control input saturation and the need for precise control. To meet these demands, a nonlinear integral sliding mode control (ISMC) approach is used to design the Lyapunov function for the manipulator. Finally, numerical simulations based on a pseudo-physical model are conducted to validate the proposed control strategy. The results demonstrate that the system maintains stability even in the presence of unknown underwater currents. A comparative analysis with conventional LMPC control highlights the superior computational efficiency and control accuracy of the proposed method.