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Symplectic Pseudospectral Methods for Optimal Control: Theory and Applications in Path Planning de Xinwei Wang

Symplectic Pseudospectral Methods for Optimal Control: Theory and Applications in Path Planning: Intelligent Systems, Control and Automation: Science and Engineering, cartea 97

Autor Xinwei Wang, Jie Liu, Haijun Peng
en Limba Engleză Hardback – 17 oct 2020
The book focuses on symplectic pseudospectral methods for nonlinear optimal control problems and their applications. Both the fundamental principles and engineering practice are addressed. Symplectic pseudospectral methods for nonlinear optimal control problems with complicated factors (i.e., inequality constraints, state-delay, unspecific terminal time, etc.) are solved under the framework of indirect methods. The methods developed here offer a high degree of computational efficiency and accuracy when compared with popular direct pseudospectral methods. The methods are applied to solve optimal control problems arising in various engineering fields, particularly in path planning problems for autonomous vehicles. Given its scope, the book will benefit researchers, engineers and graduate students in the fields of automatic control, path planning, ordinary differential equations, etc. 

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Specificații

ISBN-13: 9789811534379
ISBN-10: 9811534373
Pagini: 178
Ilustrații: XI, 178 p. 109 illus., 98 illus. in color.
Dimensiuni: 155 x 235 mm
Greutate: 0.45 kg
Ediția:1st ed. 2021
Editura: Springer Nature Singapore
Colecția Springer
Seria Intelligent Systems, Control and Automation: Science and Engineering

Locul publicării:Singapore, Singapore

Cuprins

Background.- Numerical methods for computational optimal control.- Mathematical foundations.- SPM for general nonlinear unconstrained optimal control problems.- SPM for nonlinear optimal control problems with inequality constraints.- SPM for nonlinear state-delayed optimal control problems.- From open-loop to closed-loop: Model predictive control.- Optimal maneuver of spacecraft.- Optimal path planning of UGS.- Overhead crane.- Carrier aircraft (traction system).- Optimal vaccination strategy for a seasonally varying epidemic model.

Recenzii

“The book presents – original, efficient, with good accuracy and convergence – robust numerical methods for solving different nonlinear optimal control problems with dynamics described by ODEs. … The book is well-written.” (Wiesław Kotarski, zbMATH 1491.49001, 2022)

Notă biografică

Xinwei Wang was born in Dalian, China. He received the Ph.D. degree in computational mechanics from Dalian University of Technology, Dalian, China, in 2019. He is currently a Postdoc with the Department of Engineering Mechanics and Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian, China. His research interests cover computational optimal control and path planning for autonomous vehicles. He has authored or co-authored over 10 publications in journals. 

Jie Liu was born in Huanggang, China. He received the Ph.D. degree in aerospace science and technology from Naval Aeronautical University, Yantai, China, in 2019. He is currently working in Academy of Military Sciences, Beijing, China. His research interests cover the control of Unmanned Ground Systems, path planning for robots, and optimal control, as well as related fields such as the process industry control and automation. He has authored or co-authoredover 10 publications in journals.

Haijun Peng was born in Handan, China. He received the Ph.D. degree in dynamics and control from Dalian University of Technology, Dalian, China, in 2012. He is currently a Professor with the Department of Engineering Mechanics, and fixed personnel in State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China. His research interests cover the optimal control, multibody dynamics, and robot system. He has authored or co-authored over 50 publications in journals, and received one best paper award.

Textul de pe ultima copertă

The book focuses on symplectic pseudospectral methods for nonlinear optimal control problems and their applications. Both the fundamental principles and engineering practice are addressed. Symplectic pseudospectral methods for nonlinear optimal control problems with complicated factors (i.e., inequality constraints, state-delay, unspecific terminal time, etc.) are solved under the framework of indirect methods. The methods developed here offer a high degree of computational efficiency and accuracy when compared with popular direct pseudospectral methods. The methods are applied to solve optimal control problems arising in various engineering fields, particularly in path planning problems for autonomous vehicles. Given its scope, the book will benefit researchers, engineers and graduate students in the fields of automatic control, path planning, ordinary differential equations, etc. 

Caracteristici

Addresses optimal control both in theory and application, particularly in path planning problems Provides a range of highly efficient symplectic pseudospectral methods for optimal control with various complicated factors Applies the methods developed to path planning problems and compares the control performance with existing popular methods