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A back propagation through time-like min–max optimal control algorithm for nonlinear systems


Milić, Vladimir; Kasać, Josip; Majetić, Dubravko
A back propagation through time-like min–max optimal control algorithm for nonlinear systems // Optimal control applications & methods, 34 (2013), 3; 364-378 doi:10.1002/oca.2030 (međunarodna recenzija, članak, znanstveni)


Naslov
A back propagation through time-like min–max optimal control algorithm for nonlinear systems

Autori
Milić, Vladimir ; Kasać, Josip ; Majetić, Dubravko

Izvornik
Optimal control applications & methods (0143-2087) 34 (2013), 3; 364-378

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Nonlinear systems; Min-Max optimal control; Conjugate gradient methods; Backpropagation through time; Automatic differentiation
(Nonlinear systems; Min-Max optimal control; Conjugate gradient methods; Backpropagation through time; Automatic differentiation.)

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo



POVEZANOST RADA


Projekt / tema
120-1201842-1839 - Optimalno upravljanje energijom u fluidnoj tehnici i elektromehaničkim sustavima (Željko Šitum, )
120-1201842-3048 - Umjetna inteligencija u upravljanju složenim nelinearnim dinamičkim sustavima (Josip Kasać, )
120-1201948-1945 - Inteligentno vođenje obradnih sustava (Dubravko Majetić, )

Ustanove
Fakultet strojarstva i brodogradnje, Zagreb

Profili:

Avatar Url Dubravko Majetić (autor)

Avatar Url Josip Kasać (autor)

Avatar Url Vladimir Milić (autor)

Citiraj ovu publikaciju

Milić, Vladimir; Kasać, Josip; Majetić, Dubravko
A back propagation through time-like min–max optimal control algorithm for nonlinear systems // Optimal control applications & methods, 34 (2013), 3; 364-378 doi:10.1002/oca.2030 (međunarodna recenzija, članak, znanstveni)
Milić, V., Kasać, J. & Majetić, D. (2013) A back propagation through time-like min–max optimal control algorithm for nonlinear systems. Optimal control applications & methods, 34 (3), 364-378 doi:10.1002/oca.2030.
@article{article, year = {2013}, pages = {364-378}, DOI = {10.1002/oca.2030}, keywords = {Nonlinear systems, Min-Max optimal control, Conjugate gradient methods, Backpropagation through time, Automatic differentiation.}, journal = {Optimal control applications and methods}, doi = {10.1002/oca.2030}, volume = {34}, number = {3}, issn = {0143-2087}, title = {A back propagation through time-like min–max optimal control algorithm for nonlinear systems}, keyword = {Nonlinear systems, Min-Max optimal control, Conjugate gradient methods, Backpropagation through time, Automatic differentiation.} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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