Trajectory Tracking Control of Autonomous Surface Vehicles Using Fixed-Time Lyapunov-Based Model Predictive Control

This paper aims to develop a novel fixed-time Lyapunov-based model predictive control (FTLMPC) scheme for the trajectory tracking control of autonomous surface vessels (ASVs) to improve the trajectory tracking performance. It is worth emphasizing that fixed-time control (FTC) is first emeging into the LMPC framework. By introducing the fixed-time auxiliary control system within the contraction constraints of Lyapunov-based model predictive control (LMPC) framework, the control performance of trajectory tracking is significantly improved, theoretically achieving fixed-time convergence. Mean-while, taking into account the practical constraints of the actuator thrusts, the input constraints are incorporated into the control strategy, explicitly defining a feasible attraction domain that ensures fixed-time stability. Simulation results validate that this method exhibits excellent control performance.