ENGLISH

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

By Jie Liu , Xinwei Wang , Haijun Peng

Book information

Publisher
Springer Singapore;Springer
Year
2021
ISBN
9789811534379, 9789811534386
DOI
10.1007/978-981-15-3438-6
Language
english
Format
PDF
Filesize
8 MB (8881260 bytes)
Series
Intelligent Systems, Control and Automation: Science and Engineering 97
Edition
1st ed.
Pages
XI, 178\186
Time added
2021-01-06 05:41:07
Engineering; Control; Calculus of Variations and O

Description

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.

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