{"text_format":"2","workbook":"xls","n_sheets":1,"sheets":["report2"],"not_rendered":{"charts":0,"images":0,"macros":0,"external_links":1,"defined_names":1,"comments":0,"pivot_tables":0},"unopened":[],"bounds":{"document_bytes":16777216,"sheet_cells":100000,"run_cost":"one","rows_first":2000,"rows_last":500,"rows_between":2000,"halvings":0,"cell_chars":16384,"cell_head_chars":4096},"cells_cut":0,"cells_raw":0,"read":"whole","date_system":"1900","formulas":"cached_only"}

{"sheet":"report2","index":0,"n_rows":26,"n_cols":5,"rows_kept":26,"cut":false,"hidden":false,"merged":[[0,2,0,3],[0,4,0,5],[1,2,1,3],[1,4,1,5],[2,2,2,3],[2,4,2,5],[3,2,3,3],[4,2,4,3],[5,2,5,3],[6,2,6,3],[7,2,7,3],[8,2,8,3],[10,2,10,3],[19,2,19,3],[20,2,20,3],[23,2,23,3]],"flags":["formulas_cached_only"]}
[null,"1.","Record Nr.",null,"UNINA9910659482003321"]
[null,null,"Autore",null,"Shi Yang <1960->"]
[null,null,"Titolo",null,"Advanced Model Predictive Control for Autonomous Marine Vehicles / / by Yang Shi, Chao Shen, Henglai Wei, Kunwu Zhang"]
[null,null,"Pubbl/distr/stampa",null,"Cham : , : Springer International Publishing : , : Imprint : Springer, , 2023"]
[null,null,"ISBN",null,"3-031-19354-7"]
[null,null,"Edizione",null,"[1st ed. 2023.]"]
[null,null,"Descrizione fisica",null,"1 online resource (210 pages)"]
[null,null,"Collana",null,"Advances in Industrial Control, , 2193-1577"]
[null,null,"Disciplina",null,"629.8"]
[{"$nulls":4},"623.8205"]
[null,null,"Soggetti",null,"Automatic control"]
[{"$nulls":4},"Robotics"]
[{"$nulls":4},"Offshore structures"]
[{"$nulls":4},"System theory"]
[{"$nulls":4},"Control theory"]
[{"$nulls":4},"Control and Systems Theory"]
[{"$nulls":4},"Robotic Engineering"]
[{"$nulls":4},"Offshore Engineering"]
[{"$nulls":4},"Systems Theory, Control"]
[null,null,"Lingua di pubblicazione",null,"Inglese"]
[null,null,"Formato",null,"Materiale a stampa"]
[null,null,null,"Livello bibliografico","Monografia"]
[null,null,null,"Nota di bibliografia","Includes bibliographical references and index."]
[null,null,"Nota di contenuto",null,"1. Introduction -- 2. AUV Modelling -- 3. Receding Horizon Optimization for Integrated Path Planning and Tracking Control of an AUV -- 4. Lyapunov-Based Model Predictive Control for Dynamic Positioning and Trajectory Tracking Control of an AUV -- 5. Multi-Objective Model Predictive Control for Path Following Control of an AUV -- 6. Efficient Implementation Algorithms for NMPC Trajectory Tracking Control of an AUV -- 7. Distributed Lyapunov-based Model Predictive Formation Tracking Control for AUVs Subject to Disturbances -- 8. Conclusions and Future Work."]
[null,null,null,"Sommario/riassunto","This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, "]
[{"$nulls":4},"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."]