发表机构
ETH Zürich（苏黎世联邦理工学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种约束统一的模型预测控制方法，将轨迹跟踪、推力分配和推进器限制整合为单个二次规划，并通过二进制标志实现故障重构，在实船测试中显著优于级联基线。
AI 中文摘要
编排水上表演要求小型自主水面艇在每推进器推力和速率限制下跟踪精确路径，包括推进器故障后。我们报告了一个已部署系统，其中轨迹跟踪、推力分配以及每推进器推力和速率限制在单个二次规划中针对每推进器指令求解，故障重构通过来自外部检测器的每个推进器一个二进制标志进入。该系统已在苏黎世湖的现场表演和2025年威尼斯“时间空间存在”展览中驱动了一支船队。现场测试测得在10分钟保持中均方根位置误差为1.6厘米，在0.6米/秒速度下10米方形路径上为4.3厘米。在0.5米/秒速度下，失去前推进器将误差增加到11.6厘米，而失去右舷推进器则将其增加到11.5厘米。同时失去两个推进器使船只以0.4米/秒速度跟踪方形路径，均方根位置误差为1.25米。与我们自己的级联基线相比，统一公式在标称方形路径上跟踪到相同的几厘米，并以大约一半的推进器推力更紧密地保持位置。两种架构在推进器故障后出现分歧，统一控制器保持在参考路径24厘米以内，而级联控制器则偏离。
英文摘要
Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We report a deployed system in which trajectory tracking, thrust allocation, and the per-thruster force and rate limits are resolved in a single quadratic program over the per-thruster commands, with fault reconfiguration entering through one binary flag per thruster from an external detector. The system has driven a fleet in live performances on Lake Zürich and at the Time Space Existence 2025 exhibition in Venice. The field campaign measures 1.6 cm root mean square position error in a 10-minute hold and 4.3 cm over a 10 m square at 0.6 m/s. At 0.5 m/s, losing the front thruster increases the error to 11.6 cm, while losing the starboard-side thruster increases it to 11.5 cm. Losing two thrusters simultaneously leaves the craft tracking a 0.4 m/s square with a root mean square position error of 1.25 m. Compared to our own cascaded baseline, the unified formulation tracks the nominal square to the same few centimeters and holds station more tightly with roughly half the thruster force. The architectures separate after a thruster failure, where the unified controller stays within 24 cm of the reference path while the cascade leaves it.
Comments15 pages, 10 figures. Accepted for the International Symposium of Robotics Research (ISRR) 2026
