Symplectic Pseudospectral Methods for Optimal Control
Theory and Applications in Path Planning
Buch in deiner Nähe kaufen
Beschreibung
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.
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.
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
Autor*in
Xinwei Wang
Themen in »Symplectic Pseudospectral Methods for Optimal Control«
Nonlinear Optimal Control Problem Symplectic Pseudospectral Method Computational Optimal Control Symplectic Conserved Pseudospectral Method Optimal Path Planning
Stimmen zu »Symplectic Pseudospectral Methods for Optimal Control«
“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)
()