engleski

A BPTT-like Min-Max Optimal Control Algorithm for Nonlinear Systems

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.

Min-Max optimal control; Conjugate gradient methods; Back-propagation through time; Automatic differentiation; RTAC system

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