Milić, Vladimir and Kasać, Josip and Majetić, Dubravko (2013) A back propagation through time-like min–max optimal control algorithm for nonlinear systems. = A back propagation through time-like min–max optimal control algorithm for nonlinear systems. Optimal Control Applications and Methods, 34 (3). pp. 364-378. ISSN 0143-2087. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q2 (2013). Točan broj autora: 3.
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Abstract
This paper presents a conjugate gradient-based algorithm for feedback min-max optimal control of nonlinear systems. The algorithm has a backward-in-time recurrent structure similar to the back propagation through time (BPTT) algorithm. The control law is given as the output of the one-layer NN. Main contribution of the paper includes the integration of BPTT techniques, conjugate gradient methods, Adams method for solving ODEs and automatic differentiation, to provide an effective, numerically robust algorithm for solving optimal min-max control problems. The proposed algorithm is evaluated on a robotic system with two DOFs.
| Item Type: | Article (["eprint_fieldopt_article_type_article" not defined]) |
|---|---|
| Keywords (Croatian): | automatic differentiations; back propagation through time (bptt); back-propagation through time; gradient based algorithm; numerically robust; optimal control algorithm; optimal controls; robotic systems; backpropagation; conjugate gradient method; control; nonlinear systems; algorithms |
| Subjects: | TECHNICAL SCIENCE > Mechanical Engineering |
| 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: | Q2 (2013) |
| Date Deposited: | 04 May 2015 12:06 |
| Last Modified: | 13 Dec 2018 15:05 |
| URI: | http://repozitorij.fsb.hr/id/eprint/4098 |
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