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

✍ Scribed by Xinwei Wang, Jie Liu, Haijun Peng

Publisher: Springer Singapore;Springer
Year: 2021
Tongue: English
Leaves: 186
Series: Intelligent Systems, Control and Automation: Science and Engineering 97
Edition: 1st ed.
Category: Library

No coin nor oath required. For personal study only.

✦ Synopsis

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.

✦ Table of Contents

Front Matter ....Pages i-xi
Overview of This Book (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 1-4
Computational Techniques for Nonlinear Optimal Control (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 5-14
Mathematical Foundation (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 15-32
SPM for Unconstrained Nonlinear Optimal Control Problems (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 33-51
SPM for Nonlinear Optimal Control Problems with Inequality Constraints (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 53-83
SPM for Time-Delayed Nonlinear Optimal Control Problems (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 85-113
Model Predictive Control: From Open-Loop to Closed-Loop (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 115-119
Optimal Maneuver for Spacecraft (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 121-130
Optimal Path Planning of UGS (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 131-144
Motion Planning and Control for Overhead Cranes (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 145-164
Path Planning for Tractor-Trailer System (Xinwei Wang, Jie Liu, Haijun Peng)....Pages 165-178

✦ Subjects

Engineering; Control; Calculus of Variations and Optimal Control; Optimization; Automotive Engineering

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