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An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm


Kasać, Josip; Novaković, Branko; Majetić, Dubravko; Brezak, Danko
An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm // DAAAM International Scientific Book 2003 / Katalinić, Branko (ur.).
Vienna, Austria: DAAAM International Vienna, 2003. str. 305-318


Naslov
An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm

Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko

Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni

Knjiga
DAAAM International Scientific Book 2003

Urednik/ci
Katalinić, Branko

Izdavač
DAAAM International Vienna

Grad
Vienna, Austria

Godina
2003

Raspon stranica
305-318

ISBN
3-901509-30-5

Ključne riječi
Optimal Control, Nonlinear Systems, Robot Control, Gradient Algorithm, Backpropagation-Through-Time Algorithm

Sažetak
This work presents a new numerical algorithm for the time optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm is based on the backpropagation-through-time algorithm (BPTT), which is used as a learning algorithm for recurrent neural networks. Also, a heuristic algorithm for the time optimal control is presented. This algorithm is based on the characteristics of penalty functions for control and state vectors constraints. The proposed algorithms are especially suitable for treating complicate state vector constraints. Also, the proposed algorithms provide better convergence properties then numerical algorithms based on conversion of optimal control problem into a nonlinear programming one. The algorithms are applied on the problem of the time optimal robot control with the state vector constraints in the form of obstacle avoidance.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo



POVEZANOST RADA


Projekt / tema
0120025

Ustanove
Fakultet strojarstva i brodogradnje, Zagreb

Profili:

Avatar Url Dubravko Majetić (autor)

Avatar Url Danko Brezak (autor)

Avatar Url Josip Kasać (autor)

Avatar Url Branko Novaković (autor)

Citiraj ovu publikaciju

Kasać, Josip; Novaković, Branko; Majetić, Dubravko; Brezak, Danko
An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm // DAAAM International Scientific Book 2003 / Katalinić, Branko (ur.).
Vienna, Austria: DAAAM International Vienna, 2003. str. 305-318
Kasać, J., Novaković, B., Majetić, D. & Brezak, D. (2003) An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm. U: Katalinić, B. (ur.) DAAAM International Scientific Book 2003. Vienna, Austria, DAAAM International Vienna, str. 305-318.
@inbook{inbook, editor = {Katalini\'{c}, B.}, year = {2003}, pages = {305-318}, keywords = {Optimal Control, Nonlinear Systems, Robot Control, Gradient Algorithm, Backpropagation-Through-Time Algorithm}, isbn = {3-901509-30-5}, title = {An Optimal Control Synthesis of Nonlinear Systems by Neural Network Backpropagation-Through-Time Algorithm}, keyword = {Optimal Control, Nonlinear Systems, Robot Control, Gradient Algorithm, Backpropagation-Through-Time Algorithm}, publisher = {DAAAM International Vienna}, publisherplace = {Vienna, Austria} }