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.
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ASME 2008 International Mechanical Engineering Congress and Exposition
October 31–November 6, 2008
Boston, Massachusetts, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4872-2
PROCEEDINGS PAPER
A BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application
B. Novakovic,
B. Novakovic
University of Zagreb, Zagreb, Croatia
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I. Kolmanovsky
I. Kolmanovsky
Ford Research Laboratory, Dearborn, MI
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J. Kasac
University of Zagreb, Zagreb, Croatia
J. Deur
University of Zagreb, Zagreb, Croatia
B. Novakovic
University of Zagreb, Zagreb, Croatia
I. Kolmanovsky
Ford Research Laboratory, Dearborn, MI
Paper No:
IMECE2008-67319, pp. 955-964; 10 pages
Published Online:
August 26, 2009
Citation
Kasac, J, Deur, J, Novakovic, B, & Kolmanovsky, I. "A BPTT-Like Optimal Control Algorithm With Vehicle Dynamics Control Application." Proceedings of the ASME 2008 International Mechanical Engineering Congress and Exposition. Volume 11: Mechanical Systems and Control. Boston, Massachusetts, USA. October 31–November 6, 2008. pp. 955-964. ASME. https://doi.org/10.1115/IMECE2008-67319
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