000			04079nam a22005055i 4500
001			978-3-031-19354-5
003			DE-He213
005			20250131131500.0
007			cr nn 008mamaa
008			230213s2023 sz | s |||| 0|eng d
020			_a9783031193545 _9978-3-031-19354-5
024	7		_a10.1007/978-3-031-19354-5 _2doi
040			_aKO _beng
041	0		_aeng
082	0	4	_a629.8312 _223
082	0	4	_a003 _223
100	1		_aShi, Yang. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut
245	1	0	_aAdvanced Model Predictive Control for Autonomous Marine Vehicles _h[electronic resource] / _cby Yang Shi, Chao Shen, Henglai Wei, Kunwu Zhang.
250			_a1st ed. 2023.
264		1	_aCham : _bSpringer International Publishing : _bImprint: Springer, _c2023.
300			_aXVI, 199 p. 72 illus., 70 illus. in color. _bonline resource.
338			_aonline resource
490	1		_aAdvances in Industrial Control, _x2193-1577
505	0		_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		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aOffshore structures.
650		0	_aSystem theory.
650		0	_aControl theory.
650	1	4	_aControl and Systems Theory.
650	2	4	_aRobotic Engineering.
650	2	4	_aOffshore Engineering.
650	2	4	_aRobotics.
650	2	4	_aSystems Theory, Control.
700	1		_aShen, Chao. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut
700	1		_aWei, Henglai. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut
700	1		_aZhang, Kunwu. _eauthor. _4aut _4http://id.loc.gov/vocabulary/relators/aut
830		0	_aAdvances in Industrial Control, _x2193-1577
856	4	0	_uhttps://doi.org/10.1007/978-3-031-19354-5
904			_aRUDRA_R
905			_aR_RANJAN
942			_2ddc _cEB
999			_c3193 _d3193