001454767 000__ 04303cam\a22005417i\4500
001454767 001__ 1454767
001454767 003__ OCoLC
001454767 005__ 20230314003227.0
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001454767 008__ 230223s2023\\\\sz\a\\\\ob\\\\001\0\eng\d
001454767 020__ $$a9783031193545$$q(electronic bk.)
001454767 020__ $$a3031193547$$q(electronic bk.)
001454767 020__ $$z3031193539
001454767 020__ $$z9783031193538
001454767 0247_ $$a10.1007/978-3-031-19354-5$$2doi
001454767 035__ $$aSP(OCoLC)1371056584
001454767 040__ $$aGW5XE$$beng$$erda$$epn$$cGW5XE$$dEBLCP
001454767 049__ $$aISEA
001454767 050_4 $$aTC1662
001454767 08204 $$a623.82/7$$223/eng/20230223
001454767 1001_ $$aShi, Yang,$$eauthor.
001454767 24510 $$aAdvanced model predictive control for autonomous marine vehicles /$$cYang Shi, Chao Shen, Henglai Wei, Kunwu Zhang.
001454767 264_1 $$aCham, Switzerland :$$bSpringer,$$c2023.
001454767 300__ $$a1 online resource (185 pages) :$$billustrations (colour).
001454767 336__ $$atext$$btxt$$2rdacontent
001454767 337__ $$acomputer$$bc$$2rdamedia
001454767 338__ $$aonline resource$$bcr$$2rdacarrier
001454767 4901_ $$aAdvances in industrial control
001454767 504__ $$aIncludes bibliographical references and index.
001454767 5050_ $$a1. Introduction -- 2. AUV Modelling -- 3. Receding Horizon Optimization for Integrated Path Planning and Tracking Control of an AUV -- 4. Lyapunov-Based Model Predictive Control for Dynamic Positioning and Trajectory Tracking Control of an AUV -- 5. Multi-Objective Model Predictive Control for Path Following Control of an AUV -- 6. Efficient Implementation Algorithms for NMPC Trajectory Tracking Control of an AUV -- 7. Distributed Lyapunov-based Model Predictive Formation Tracking Control for AUVs Subject to Disturbances -- 8. Conclusions and Future Work.
001454767 506__ $$aAccess limited to authorized users.
001454767 520__ $$aThis book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor providing thorough analysis and developing provably-correct design conditions and application perspectives addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
001454767 588__ $$aDescription based on print version record.
001454767 650_0 $$aAutonomous underwater vehicles$$xAutomatic control.
001454767 650_0 $$aPredictive control.
001454767 655_0 $$aElectronic books.
001454767 7001_ $$aShen, Chao,$$eauthor.
001454767 7001_ $$aWei, Henglai,$$eauthor.
001454767 7001_ $$aZhang, Kunwu,$$eauthor.
001454767 77608 $$iPrint version:$$tADVANCED MODEL PREDICTIVE CONTROL FOR AUTONOMOUS MARINE VEHICLES.$$d[Place of publication not identified] : SPRINGER INTERNATIONAL PU, 2023$$z3031193539$$w(OCoLC)1346068256
001454767 830_0 $$aAdvances in industrial control.
001454767 852__ $$bebk
001454767 85640 $$3Springer Nature$$uhttps://univsouthin.idm.oclc.org/login?url=https://link.springer.com/10.1007/978-3-031-19354-5$$zOnline Access$$91397441.1
001454767 909CO $$ooai:library.usi.edu:1454767$$pGLOBAL_SET
001454767 980__ $$aBIB
001454767 980__ $$aEBOOK
001454767 982__ $$aEbook
001454767 983__ $$aOnline
001454767 994__ $$a92$$bISE