Robust dynamic optimization of unmanned boat navigation based on uncertain moment information on distribution

Abstract

The unmanned boat navigates in the complex Marine environment and is prone to random interference. The robust control can deal with the optimization of moment information with distributed uncertainty. Although we do not know the distribution of random interference, we can obtain moment information for random interference. In this paper, we will consider how to apply distributed robust optimal control to deal with the problem of unmanned boat navigation under the condition of uncertain moment information of random interference and then convert the distributed robust optimization problem that is transformed into a second-order cone problem (SOCP).