Advanced Model Predictive Control for Autonomous Marine Vehicles
Shi, Yang, Shen, Chao, Wei, Henglai
- 出版商: Springer
- 出版日期: 2024-02-15
- 售價: $5,540
- 貴賓價: 9.5 折 $5,263
- 語言: 英文
- 頁數: 199
- 裝訂: Quality Paper - also called trade paper
- ISBN: 3031193563
- ISBN-13: 9783031193569
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相關分類:
Machine Learning
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相關主題
商品描述
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, 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 vehicle andprogressing 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.
商品描述(中文翻譯)
本書提供了與水下機器人應用相關的海洋控制系統設計的全面概述。特別是，它提出了基於優化的模型預測控制策略，以解決出現在自主水下航行器應用中的控制問題。這些新穎的方法在控制系統設計中引入了獨特的特徵，例如約束處理、多重設計目標之間的優先排序、最佳控制性能，以及對擾動和不確定性的穩健性。因此，它們形成了一個更通用的框架來設計海洋控制系統，並且可以廣泛應用。
《自主海洋載具的進階模型預測控制》在理論嚴謹性與應用視角之間取得平衡——提供徹底的分析並發展可證明正確的設計條件，同時解決實際系統約束和實施問題。本書從單一載具的固定點定位問題開始，逐步進展到載具的軌跡追蹤和路徑跟隨問題，然後再到大規模多機器人團隊的協調控制，逐步解決運動控制問題，並提高其挑戰性。在每個步驟中，相關的子問題如路徑規劃、推力分配、避碰以及實時實施的時間約束等也會討論並提供解決方案。
本書的每一章都提供了簡潔且具說明性的範例，以展示設計和實施程序。因此，本書對於理論研究和實際工程設計均有幫助，書中提供的工具也可直接應用於現實世界的實施。
作者簡介
Chao Shen received his B.E. degree in automation engineering and M.Sc. in control science and engineering from Northwestern Polytechnical University, China in 2009 and 2012, respectively, and his Ph.D. degree in mechanical engineering from the University of Victoria, Canada, in 2018. His main research interests include model predictive control, robotics, mechatronics, deep learning and computer vision. DrShen was the winner of the 2018 IEEE SMCS Thesis Grant Initiative for his Ph.D. thesis on model predictive control for underwater robotics; the recipient of the Natural Science and Engineering Research Council of Canada (NSERC) Postdoctoral Fellowship in 2020, and he is currently holding a postdoc position with the Real-time Adaptive Control Engineering Lab at University of Michigan. He served as an Associate Editor of the IEEE ISIE 2019 and the IEEE ICCA 2020. He is a member of IEEE.
Henglai Wei received his B.Sc. and M.Sc. degrees in mechanical engineering and automatic control from Northwestern Polytechnical University, Xi'an, China, in 2014 and 2017, respectively. He is currently working toward his Ph.D. degree in mechanical engineering with the University of Victoria, Canada. His current research interests include distributed model predictive control, multi-agent systems, and cooperative marine robots. He is an active reviewer for more than ten international journalsand conferences.
Kunwu Zhang received his M.A.Sc. and Ph.D. degrees in Mechanical Engineering from the University of Victoria, BC, Canada, in 2016 and 2021, respectively. Currently, he is a Postdoctoral Research Fellow and Lecturer with the Department of Mechanical Engineering, University of Victoria, BC, Canada. His current research interests include adaptive control, model predictive control, data-driven control, optimization, and mechatronics. He is an active reviewer for more than 15 international journals and conferences.
作者簡介(中文翻譯)
Yang Shi於2005年獲得加拿大阿爾伯塔大學電機與計算機工程博士學位。從2005年到2009年，他在加拿大薩斯喀徹溫大學機械工程系擔任助理教授和副教授，之後加入維多利亞大學，目前是該校機械工程系的教授。他於2013年擔任日本東京大學的訪問教授。他目前的研究興趣包括網絡和分佈式系統、模型預測控制、網絡物理系統、機器人技術和機電一體化、自主系統（AUV和UAV）的導航與控制，以及能源系統應用。Shi教授曾獲得多項專業和學術獎項，包括2017年IEEE模糊系統期刊傑出論文獎（Outstanding Paper Award）及2018年洪堡研究獎學金（Humboldt Research Fellowship for Experienced Researchers）。自2017年以來，他一直是IEEE IES行政委員會的成員，並目前擔任IEEE IES工業網絡物理系統技術委員會的主席。他擔任多個編輯職務，包括IEEE工業電子學報的共同主編、Automatica的副編輯，以及IEEE控制系統技術學報的副編輯。他是IEEE、ASME、加拿大工程學會及加拿大機械工程學會的會士，並且是加拿大不列顛哥倫比亞省的註冊專業工程師。
Chao Shen於2009年和2012年分別獲得中國西北工業大學自動化工程學士學位和控制科學與工程碩士學位，並於2018年獲得加拿大維多利亞大學機械工程博士學位。他的主要研究興趣包括模型預測控制、機器人技術、機電一體化、深度學習和計算機視覺。Shen博士是2018年IEEE SMCS論文獎計畫的獲獎者，該獎項是基於他關於水下機器人模型預測控制的博士論文；他於2020年獲得加拿大自然科學與工程研究委員會（NSERC）博士後獎學金，目前在密西根大學的實時自適應控制工程實驗室擔任博士後研究員。他曾擔任IEEE ISIE 2019和IEEE ICCA 2020的副編輯。他是IEEE的成員。
Henglai Wei於2014年和2017年分別獲得中國西北工業大學（西安）機械工程和自動控制的學士及碩士學位。他目前在加拿大維多利亞大學攻讀機械工程博士學位。他目前的研究興趣包括分佈式模型預測控制、多智能體系統和協作海洋機器人。他是十多個國際期刊和會議的活躍審稿人。
Kunwu Zhang於2016年和2021年分別獲得加拿大維多利亞大學機械工程碩士和博士學位。目前，他是維多利亞大學機械工程系的博士後研究員和講師。他目前的研究興趣包括自適應控制、模型預測控制、數據驅動控制、優化和機電一體化。他是15個以上國際期刊和會議的活躍審稿人。
