Naslov
A BPTT-like Optimal Control Algorithm With Vehicle Dynamics Control Application

Autori
Kasać, Josip ; Deur, Joško ; Novaković, Branko ; Kolmanovsky, Ilya

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2008 ASME International Mechanical Engineering Congress & Exposition / - Boston (MA), 2008

ISBN
978-0-7918-3840-2

Skup
ASME International Mechanical Engineering Congress & Exposition

Mjesto i datum
Boston (MA), Sjedinjene Američke Države, 31.10.2008. - 06.11.2008

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Optimal Control; Automotive Control Systems

Sažetak
The 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.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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