Dual-Layer Model Predictive Control for Multi-Vessels Formation With Predefined-Time and Collision-Free Strategy

As the demand for various practical applications continues to increase, challenges such as time consumption have compromised the real-time capabilities of formation agents. Model predictive control (MPC) is known for its computational complexity, which can result in synchronisation issues among followers and leaders. In this study, we propose a dual-layer formation control strategy. The upper layer focuses on trajectory planning and collision avoidance, utilising MPC and control barrier functions to derive the desired velocities. Within the MPC framework, this approach simplifies the control of second-order systems—incorporating both trajectories and velocities—into first-order systems that only require trajectory management. In the lower layer, we establish a new predefined-time leader-follower formation control for multiple vessels, designed to achieve the desired velocity. The proposed method is validated through simulations involving multiple unmanned surface vessels.