By Magnus Egerstedt

Splines, either interpolatory and smoothing, have a protracted and wealthy historical past that has mostly been program pushed. This publication unifies those structures in a complete and available approach, drawing from the most recent equipment and purposes to teach how they come up certainly within the concept of linear keep an eye on platforms. Magnus Egerstedt and Clyde Martin are major innovators within the use of regulate theoretic splines to collect many different purposes inside a standard framework. during this booklet, they start with a sequence of difficulties starting from course making plans to stats to approximation. utilizing the instruments of optimization over vector areas, Egerstedt and Martin reveal how all of those difficulties are a part of an analogous normal mathematical framework, and the way they're all, to a undeniable measure, a final result of the optimization challenge of discovering the shortest distance from some extent to an affine subspace in a Hilbert area. They conceal periodic splines, monotone splines, and splines with inequality constraints, and clarify how any finite variety of linear constraints should be additional. This ebook finds how the numerous ordinary connections among keep watch over idea, numerical research, and statistics can be utilized to generate robust mathematical and analytical tools.

This publication is a superb source for college students and pros on top of things idea, robotics, engineering, special effects, econometrics, and any region that calls for the development of curves in accordance with units of uncooked data.

Show description

Read Online or Download Control Theoretic Splines: Optimal Control, Statistics, and Path Planning (Princeton Series in Applied Mathematics) PDF

Best robotics & automation books

Robust Stability and Convexity: An Introduction

A primary challenge up to speed idea is worried with the soundness of a given linear procedure. The layout of a keep watch over process is mostly in accordance with a simplified version. the genuine values of the actual parameters may perhaps vary from the assumed values. powerful balance and Convexity addresses balance difficulties for linear structures with parametric uncertainty.

Mechanics of Terrestrial Locomotion: With a Focus on Non-pedal Motion Systems

This booklet covers the explicit elements of mechanics and keep watch over idea which are utilized in terrestrial locomotion structures. as well as the theoretical fundamentals and functions, routines are supplied. The ideas are available at "www. springer. com/978-3-540-88840-6" in addition to on- video documents concerning prototypes of wheeled and worm-like locomotion systems;- e-learning software program at the mechanical background;- MAPLE and MATLAB courses for the dynamic simulation of locomotion structures.

Tandem Cold Metal Rolling Mill Control: Using Practical Advanced Methods

The tandem rolling of chilly steel strip is a huge, hugely complicated nonlinear multivariable approach the keep an eye on of which poses an important engineering problem. latest controllers have confirmed to be vulnerable to disturbances and uncertainties in technique variables and makes an attempt to extend robustness to those phenomena have had their very own drawbacks so a brand new strategy is required.

Extra info for Control Theoretic Splines: Optimal Control, Statistics, and Path Planning (Princeton Series in Applied Mathematics)

Sample text

However, it is not at all clear what the operation of ∂/∂ξ actually corresponds to in these spaces. In fact, as normal derivatives can be thought of as limiting concepts, one can ask how much a given functional F : H → R increases at a certain point p ∈ H if we allow a small perturbation of p. In the functional case, this limiting increment is not independent of the perturbation, and we will have to talk about directional derivatives rather than normal derivatives. Let, as before, H be a Hilbert space and let F : H → R.

N )T ) is then the solution of a set of linear equations of the form (W G + ρI)τ = 0, where W is the diagonal matrix of the weights wi and G = [gij ] is, as before, the Grammian with gij = Lti ( tj ). Now, consider the matrix W G + ρI and multiply it on the left by W−1 , and consider the scalar z T (G + ρW −1 )z = z T Gz + ρz T W −1 z > 0, since both G and ρW −1 are positive definite. Thus, for positive weights and positive ρ, the only solution is τ = 0. It remains to show that the operator T is onto.

43) It is easy enough to generalize this construction to include higher-order derivative constraints. 39) is unique. If we were to generalize the construction to linear combinations of derivatives and to different EditedFinal September 23, 2009 EIGHT FUNDAMENTAL PROBLEMS 45 linear combinations at different points, this obstruction becomes quite severe, and some of the same problems arise here as do in the case of Birkhoff interpolation, as discussed in [106]. Note that this construction does not guarantee that the spline function is monotone, but only that the function is nondecreasing at each node.

Download PDF sample

Rated 4.32 of 5 – based on 27 votes