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

Symplectic Pseudospectral Methods for Optimal Control: Theory and Applications in Path Planning Xinwei Wang, Jie Liu, Haijun Peng
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. Categories:
Computers – Hardware
Year:
2021
Edition:
1st ed.
Publisher:
Springer Singapore;Springer
Language:
english
Pages:
186
ISBN 10:
9811534381
ISBN 13:
9789811534386
Series:
Intelligent Systems, Control and Automation: Science and Engineering 97
File:
47 MB