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Title
Symplectic pseudospectral methods for optimal control : theory and applications in path planning / Xinwei Wang, Jie Liu, Haijun Peng.
ISBN
9789811534386 (electronic bk.)
9811534381 (electronic bk.)
9811534373
9789811534379
Published
Singapore : Springer, 2021.
Copyright
©2021
Language
English
Description
1 online resource (xi, 178 pages)
Other Standard Identifiers
10.1007/978-981-15-3438-6 doi
Call Number
QA402.35 .W26 2021eb
Dewey Decimal Classification
629.8/36
Summary
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.
Bibliography, etc. Note
Includes bibliographical references.
Access Note
Access limited to authorized users.
Source of Description
Description based on print version record.
Series
International series on intelligent systems, control and automation--science and engineering ; v. 97.
Overview of this book
Computational techniques for nonlinear optimal control
Mathematical foundation
SPM for unconstrained nonlinear optimal control problems
SPM for nonlinear optimal control problems with inequality constraints
SPM for time-delayed nonlinear optimal control problems
Model predictive control: from open-loop to closed-loop
Optimal maneuver for spacecraft
Optimal path planning of UGS
Motion planning and control for overhead cranes
Path planning for tractor-trailer system.
