LEADER 04559nam 22006975 450 001 9910659482003321 005 20251223170559.0 010 $a3-031-19354-7 024 7 $a10.1007/978-3-031-19354-5 035 $a(MiAaPQ)EBC7203081 035 $a(Au-PeEL)EBL7203081 035 $a(CKB)26154976300041 035 $a(DE-He213)978-3-031-19354-5 035 $a(PPN)268205027 035 $a(EXLCZ)9926154976300041 100 $a20230213d2023 u| 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aAdvanced Model Predictive Control for Autonomous Marine Vehicles /$fby Yang Shi, Chao Shen, Henglai Wei, Kunwu Zhang 205 $a1st ed. 2023. 210 1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2023. 215 $a1 online resource (210 pages) 225 1 $aAdvances in Industrial Control,$x2193-1577 311 08$aPrint version: Shi, Yang Advanced Model Predictive Control for Autonomous Marine Vehicles Cham : Springer International Publishing AG,c2023 9783031193538 320 $aIncludes bibliographical references and index. 327 $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. 330 $aThis book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor ? providing thorough analysis and developing provably-correct design conditions ? and application perspectives ? addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicleand progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation. 410 0$aAdvances in Industrial Control,$x2193-1577 606 $aAutomatic control 606 $aRobotics 606 $aOffshore structures 606 $aSystem theory 606 $aControl theory 606 $aControl and Systems Theory 606 $aRobotic Engineering 606 $aOffshore Engineering 606 $aRobotics 606 $aSystems Theory, Control 615 0$aAutomatic control. 615 0$aRobotics. 615 0$aOffshore structures. 615 0$aSystem theory. 615 0$aControl theory. 615 14$aControl and Systems Theory. 615 24$aRobotic Engineering. 615 24$aOffshore Engineering. 615 24$aRobotics. 615 24$aSystems Theory, Control. 676 $a629.8 676 $a623.8205 700 $aShi$b Yang$f1960-$01359261 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910659482003321 996 $aAdvanced Model Predictive Control for Autonomous Marine Vehicles$93373521 997 $aUNINA