Pregled bibliografske jedinice broj: 88267
Neural Network Application to Optimal Control of Nonlinear Systems
Neural Network Application to Optimal Control of Nonlinear Systems // Computer Aided Optimum Design of Structures VII / Hernandes, S. ; Brebbia, C.A. (ur.).
Southampton : Boston (MA): Wessex Institute of Technology Press, 2001.
CROSBI ID: 88267 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Neural Network Application to Optimal Control of Nonlinear Systems
Autori
Kasać, Josip ; Novaković, Branko
Vrsta, podvrsta i kategorija rada
Poglavlja u knjigama, znanstveni
Knjiga
Computer Aided Optimum Design of Structures VII
Urednik/ci
Hernandes, S. ; Brebbia, C.A.
Izdavač
Wessex Institute of Technology Press
Grad
Southampton : Boston (MA)
Godina
2001
Raspon stranica
ISBN
1-85312-868-6
Ključne riječi
optimal control, robot control, neural networks
Sažetak
This paper presents the derivation of the numerical algorithm for optimal control of nonlinear multivariable systems with control and state vectors constraints. The algorithm derivation is based on the backpropagation-through-time (BPTT) algorithm which is used as a learning algorithm for recurrent neural networks. This approach is not based on Lagrange multiplier techniques and the calculus of variations. The derived algorithm is used for the control of the cooperative work of two robots with two degrees of freedom. The main problem is the determination of the control vectors of robots for the transfer of rigid load from the initial state to the final one in a fixed time while maintaining constant distance between robot hands and avoiding the cross-section of the robot hands.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
