Symplectic Pseudospectral Methods for Optimal Control: Theory and Applications in Path Planning

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 a...