A conjugate gradient-based BPTT-like optimal control algorithm with vehicle dynamics control Application

Kasać, Josip and Deur, Joško and Novaković, Branko and Kolmanovsky, Ilya and Assadian, Francis (2011) A conjugate gradient-based BPTT-like optimal control algorithm with vehicle dynamics control Application. = A conjugate gradient-based BPTT-like optimal control algorithm with vehicle dynamics control Application. IEEE Transactions on Control Systems Technology, 19 (6). pp. 1587-1595. ISSN 1063-6536. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q1 (2011). Točan broj autora: 5.

Text Kasać, Josip_A conjugate gradient-based BPTT-like optimal control algorithm with vehicle dynamics control Application.pdf - Published Version Restricted to IP adress Jezik dokumenta:Croatian Download (304kB)

Abstract

The paper presents a gradient-based algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-in-time recurrent structure similar to the backpropagation-through-time algorithm, which is mostly used as a learning algorithm for dynamic neural networks. Other main features of the algorithm include the use of higher order Adams time-discretization schemes, numerical calculation of Jacobians, and advanced conjugate gradient methods for favorable convergence properties. The algorithm performance is illustrated on an example of off-line vehicle dynamics control optimization based on a realistic high-order vehicle model. The optimized control variables are active rear differential torque transfer and active rear steering road wheel angle, while the optimization tasks are trajectory tracking and roll minimization for a double lane change maneuver.

Item Type:	Article (["eprint_fieldopt_article_type_article" not defined])
Keywords (Croatian):	automotive applications; conjugate gradient; optimal controls; road vehicle control; vehicle dynamics; backpropagation algorithms; conjugate gradient method; control; control system synthesis; convergence of numerical methods; dynamics; learning algorithms; multivariable systems; optimization; recurrent neural networks; vehicles
Subjects:	TECHNICAL SCIENCE
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	Yes
Indexed in Current Contents:	Yes
Quartiles:	Q1 (2011)
Date Deposited:	23 Apr 2015 09:32
Last Modified:	12 Dec 2018 08:38
URI:	http://repozitorij.fsb.hr/id/eprint/3771

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