Overview
- 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
Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering (ISCA, volume 97)
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Table of contents (11 chapters)
Keywords
About this book
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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Authors and Affiliations
About the authors
Jie Liu was born in Huanggang, China. He received the Ph.D. degree in aerospace science and technology from Naval Aeronautical University, Yantai, China, in 2019. He is currently working in Academy of Military Sciences, Beijing, China. His research interests cover the control of Unmanned Ground Systems, path planning for robots, and optimal control, as well as related fields such as the process industry control and automation. He has authored or co-authoredover 10 publications in journals.
Haijun Peng was born in Handan, China. He received the Ph.D. degree in dynamics and control from Dalian University of Technology, Dalian, China, in 2012. He is currently a Professor with the Department of Engineering Mechanics, and fixed personnel in State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian, China. His research interests cover the optimal control, multibody dynamics, and robot system. He has authored or co-authored over 50 publications in journals, and received one best paper award.
Bibliographic Information
Book Title: Symplectic Pseudospectral Methods for Optimal Control
Book Subtitle: Theory and Applications in Path Planning
Authors: Xinwei Wang, Jie Liu, Haijun Peng
Series Title: Intelligent Systems, Control and Automation: Science and Engineering
DOI: https://doi.org/10.1007/978-981-15-3438-6
Publisher: Springer Singapore
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2021
Hardcover ISBN: 978-981-15-3437-9Published: 17 October 2020
Softcover ISBN: 978-981-15-3440-9Published: 17 October 2021
eBook ISBN: 978-981-15-3438-6Published: 16 October 2020
Series ISSN: 2213-8986
Series E-ISSN: 2213-8994
Edition Number: 1
Number of Pages: XI, 178
Number of Illustrations: 11 b/w illustrations, 98 illustrations in colour
Topics: Control and Systems Theory, Calculus of Variations and Optimal Control; Optimization, Automotive Engineering