Buch, Englisch, 199 Seiten, HC runder Rücken kaschiert, Format (B × H): 160 mm x 241 mm, Gewicht: 534 g
Buch, Englisch, 199 Seiten, HC runder Rücken kaschiert, Format (B × H): 160 mm x 241 mm, Gewicht: 534 g
Reihe: Advances in Industrial Control
ISBN: 978-3-031-19353-8
Verlag: Springer International Publishing
Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle andprogressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions.
In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Zielgruppe
Research
Autoren/Hrsg.
Fachgebiete
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
- Mathematik | Informatik Mathematik Mathematik Interdisziplinär Systemtheorie
- Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz
- Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
- Technische Wissenschaften Verkehrstechnik | Transportgewerbe Meerestechnik, ablandige Plattformen
- Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
Weitere Infos & Material
1. Introduction.- 2. AUV Modelling.- 3. Receding Horizon Optimization for Integrated Path Planning and Tracking Control of an AUV.- 4. Lyapunov-Based Model Predictive Control for Dynamic Positioning and Trajectory Tracking Control of an AUV.- 5. Multi-Objective Model Predictive Control for Path Following Control of an AUV.- 6. Efficient Implementation Algorithms for NMPC Trajectory Tracking Control of an AUV.- 7. Distributed Lyapunov-based Model Predictive Formation Tracking Control for AUVs Subject to Disturbances.- 8. Conclusions and Future Work.