A BPTT-like Optimal Control Algorithm with Vehicle Dynamics Control Application
DVD Proc. of 2008 ASME International Mechanical Engineering Congress and Exposition (IMECE 2008), Boston, MA2008The paper presents a gradient-based numerical 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 (BPTT) algorithm, which is mostly used as a learning algorithm for dynamic neural networks. This paper presents an enhancement of the basic optimization algorithm. Our enhanced algorithm uses high-order Adams time-discretization schemes instead of the basic Euler discretization method, and a numerical calculation of Jacobians as an alternative to analytical Jacobians. Two examples are considered to illustrate the algorithm and its performance. The first example is that of a tubular reactor, for which an analytical solution is available, which can be readily used for validation of our approach. The second example is related to controlling vehicle dynamics based on a realistic high order model. optimal control; conjugate gradient methods; automotive applications; road vehicle control
Cited by 4
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A computational approach to parameter identification of spatially distributed nonlinear systems with unknown initial conditions🔗
IEEE Workshop on Robotic Intelligence In Informationally Structured Space, 2014
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[2]
Initial conditions optimization of nonlinear dynamic systems with applications to output identification and control🔗
2012 20th Mediterranean Conference on Control & Automation (MED), 2012
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[3]
A Conjugate Gradient-Based BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application🔗
IEEE Transactions on Control Systems Technology, 2009
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[4]
A conjugate gradient-based BPTT-like optimal control algorithm🔗
2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC), 2009
DVD Proc. of 2008 ASME International Mechanical Engineering Congress and Exposition (IMECE 2008), Boston, MA
2008
Cited by 4
▾
-
[1] A computational approach to parameter identification of spatially distributed nonlinear systems with unknown initial conditions🔗IEEE Workshop on Robotic Intelligence In Informationally Structured Space, 2014
-
[2] Initial conditions optimization of nonlinear dynamic systems with applications to output identification and control🔗2012 20th Mediterranean Conference on Control & Automation (MED), 2012
-
[3] A Conjugate Gradient-Based BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application🔗IEEE Transactions on Control Systems Technology, 2009
-
[4] A conjugate gradient-based BPTT-like optimal control algorithm🔗2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC), 2009