A BPTT-like min-max optimal control algorithm for nonlinear systems

Milić, Vladimir and Kasać, Josip and Majetić, Dubravko and Šitum, Željko (2010) A BPTT-like min-max optimal control algorithm for nonlinear systems. = A BPTT-like min-max optimal control algorithm for nonlinear systems. In: International Conference on Numerical Analysis and Applied Mathematics 2010, ICNAAM-2010, 19-25.09.2010., Rhodes, Greece.

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Official URL: https://www.bib.irb.hr/514700


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 neural network. Main contribution of the paper includes the integration of BPTT techniques, conjugate gradient methods, Adams method for solving ODEs and automatic differentiation (AD), to provide an effective, novel algorithm for solving numerically optimally min-max control problems. The proposed algorithm is applied to the rotational/translational actuator (RTAC) nonlinear benchmark problem with control and state vector constraints.

Item Type: Conference or Workshop Item (Paper)
Keywords (Croatian): automatic differentiation; back-propagation through time; conjugate gradient methods; min-max optimal control; RTAC system
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science: No
Indexed in Current Contents: No
Date Deposited: 15 Apr 2015 12:40
Last Modified: 29 Oct 2018 13:41
URI: http://repozitorij.fsb.hr/id/eprint/3624

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