Naslov
A Conjugate Gradient-Based BPTT-like Optimal Control Algorithm with Vehicle Dynamics Control Application

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

Izvornik
IEEE Transactions on Control Systems Technology (1063-6536) 19 (2011), 6; 1587-1595

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

Ključne riječi
optimal control; conjugate gradient methods; automotive applications; road vehicle control

Sažetak
The paper presents a gradient-based algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm has a backward-intime recurrent structure similar to the backpropagation-throughtime (BPTT) algorithm, which is mostly used as a learning algorithm for dynamic neural networks. Other main features of the algorithm include the use of higher order Adams time discretization schemes, numerical calculation of Jacobians, and advanced conjugate gradient methods for favorable convergence properties. The algorithm performance is illustrated on a vehicle dynamics control example based on a realistic high-order vehicle model. The optimized control variables are active rear differential torque transfer and active rear steering road wheel angle, while the optimization tasks are trajectory tracking and roll minimization for a double lane change maneuver.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

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