Symplectic Pseudospectral Methods for Optimal Control

Theory and Applications in Path Planning

By: Haijun Peng, Xinwei Wang, Jie Liu

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Paperback | 17 October 2021

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Paperback
192 Pages

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23.5 x 15.5 x 1.04

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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.

Industry Reviews

"The book presents - original, efficient, with good accuracy and convergence - robust numerical methods for solving different nonlinear optimal control problems with dynamics described by ODEs. ... The book is well-written." (Wies?aw Kotarski, zbMATH 1491.49001, 2022)

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