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020 _a9783031193545
_9978-3-031-19354-5
024 _a10.1007/978-3-031-19354-5
_2doi
050 _aTJ212-225
072 _aTJFM
_2bicssc
072 _aGPFC
_2bicssc
072 _aTEC007000
_2bisacsh
072 _aTJFM
_2thema
082 _a629.8312
_223
082 _a003
_223
100 _aShi, Yang.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
245 _aAdvanced Model Predictive Control for Autonomous Marine Vehicles
_h[electronic resource] /
_cby Yang Shi, Chao Shen, Henglai Wei, Kunwu Zhang.
250 _a1st ed. 2023.
260 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2023.
300 _aXVI, 199 p. 72 illus., 70 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 _aAdvances in Industrial Control,
_x2193-1577
505 _a1. 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.
520 _aThis book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. 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 vehicleand progressing 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.
650 _aControl engineering.
650 _aRobotics.
650 _aOffshore structures.
650 _aSystem theory.
650 _aControl theory.
650 _aControl and Systems Theory.
650 _aRobotic Engineering.
650 _aOffshore Engineering.
650 _aRobotics.
650 _aSystems Theory, Control.
700 _aShen, Chao.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
700 _aWei, Henglai.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
700 _aZhang, Kunwu.
_eauthor.
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
710 _aSpringerLink (Online service)
773 _tSpringer Nature eBook
776 _iPrinted edition:
_z9783031193538
776 _iPrinted edition:
_z9783031193552
776 _iPrinted edition:
_z9783031193569
830 _aAdvances in Industrial Control,
_x2193-1577
856 _uhttps://doi.org/10.1007/978-3-031-19354-5
912 _aZDB-2-INR
912 _aZDB-2-SXIT
999 _c12647
_d12647