Title :
Trajectory optimization and optimal control of vehicle dynamics under critically stable driving conditions
Author :
Khatab, Shaady ; Traechtler, Ansgar
Author_Institution :
Heinz Nixdorf Inst., Paderborn, Germany
Abstract :
A method will be presented which not only optimizes the trajectory of a road vehicle but also develops a gain-scheduled feedback controller. A major difficulty when applying this method (known as differential dynamic programming-DDP) to complex systems is the calculation of the first and second derivatives of the system equations. This calculation is here carried out by automatic differentiation, thereby increasing the flexibility and area of application of the DDP algorithm. The control policy was then successfully tested on a multi-body simulation of a road vehicle.
Keywords :
differentiation; dynamic programming; feedback; large-scale systems; optimal control; road vehicles; stability; vehicle dynamics; DDP algorithm; automatic differentiation; complex systems; critically stable driving conditions; differential dynamic programming; gain-scheduled feedback controller; multibody simulation; optimal control; road vehicle; trajectory optimization; vehicle dynamics; Dynamic programming; Equations; Mathematical model; Optimal control; Optimization; Vehicle dynamics; Vehicles;
Conference_Titel :
System Science and Engineering (ICSSE), 2013 International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4799-0007-7
DOI :
10.1109/ICSSE.2013.6614644