Trajectory optimization and optimal control of vehicle dynamics under critically stable driving conditions

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 deri...

Full description

Saved in:
Bibliographic Details
Published in2013 International Conference on System Science and Engineering (ICSSE) pp. 117 - 121
Main Authors Khatab, Shaady, Traechtler, Ansgar
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2013
Subjects
Dynamic programming
Equations
Mathematical model
Optimal control
Optimization
Vehicle dynamics
Vehicles
Online AccessGet full text

Cover

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.
AbstractList 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.
Author Traechtler, Ansgar
Khatab, Shaady
Author_xml – sequence: 1
  givenname: Shaady
  surname: Khatab
  fullname: Khatab, Shaady
  email: shaady.khatab@hni.uni-paderborn.de
  organization: Heinz Nixdorf Inst., Paderborn, Germany
– sequence: 2
  givenname: Ansgar
  surname: Traechtler
  fullname: Traechtler, Ansgar
  email: Ansgar.traechtler@hni.uni-paderborn.de
  organization: Heinz Nixdorf Inst., Paderborn, Germany
BookMark eNo1UM1OAjEYrBETAXkBvfQFFvvf_Y6GoJKQeIA7-bbb1ZKlJd2VZH16JeBpMpOZSWYmZBRT9IQ8cjbnnMHzarHZLOeCcTk3hiuj1A2ZcGUBGGOgb8kMbPnPrR2RsZBCFwwY3JNZ14WKCWWkFEKNyX6bce9dn_JA07EPh_CDfUiRYqwvArbUpdjn1NLU0JP_Cq71tB4iHoLr6HesfaYuhz44bNuBdj1WZ0MOpxA_z9k6nBu7B3LXYNv52RWnZPu63C7ei_XH22rxsi4CsL7QngFyYxAtWOac5V6z0mgOwF0JgFJZ7YxoUAiPXlQNKF0LX9WoWFmjnJKnS23w3u-O-W9BHnbXp-QvXtpfWw
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ICSSE.2013.6614644
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume
IEEE Xplore All Conference Proceedings
IEEE/IET Electronic Library
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library Online
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 1479900095
9781479900091
EndPage 121
ExternalDocumentID 6614644
Genre orig-research
GroupedDBID 6IE
6IL
ACGFS
ALMA_UNASSIGNED_HOLDINGS
CBEJK
M43
RIE
RIL
ID FETCH-LOGICAL-i90t-5e09a166aa7970cc71e508651991c899a3475c62fa22eae2bf945d2ebda408da3
IEDL.DBID RIE
ISBN 9781479900077
1479900079
ISSN 2325-0909
IngestDate Wed Jun 26 19:25:01 EDT 2024
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i90t-5e09a166aa7970cc71e508651991c899a3475c62fa22eae2bf945d2ebda408da3
PageCount 5
ParticipantIDs ieee_primary_6614644
PublicationCentury 2000
PublicationDate 2013-July
PublicationDateYYYYMMDD 2013-07-01
PublicationDate_xml – month: 07
  year: 2013
  text: 2013-July
PublicationDecade 2010
PublicationTitle 2013 International Conference on System Science and Engineering (ICSSE)
PublicationTitleAbbrev ICSSE
PublicationYear 2013
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssib024633224
ssib025355138
ssib016919681
Score 1.5539463
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 117
SubjectTerms Dynamic programming
Equations
Mathematical model
Optimal control
Optimization
Vehicle dynamics
Vehicles
Title Trajectory optimization and optimal control of vehicle dynamics under critically stable driving conditions
URI https://ieeexplore.ieee.org/document/6614644
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PS8MwFA7bTp5UNvE3OXi0XZumSXMeG1NQhE3YbbwmKW7OVmYnzL_eJG03FA_e2tCWJnnkvbx83_sQutFhyDKmhZdAajYolEsPQiW9MElUxEOIMnfQ_vDIxs_0fhbPWuh2x4XRWjvwmfbtpTvLV4Xc2FRZ3_oS47_bqM2FqLhaje3Ymi-C7TmUhLLI2OrO1kgcWSkTJ1AXkdimJ4TjeZkvWT8pmvJP9T1vCDaB6N8NJpOhRYFFfv0HP6RYnCcaHaKHpg8VAOXV35SpL79-lXf8byePUG_P-cNPO292jFo676KlcWVLl9ff4sIsLm81axNDrqoGWOEa7Y6LDH_qF2uHWFU69x_YUtTWWNZ6CqstNsFoah9YL2wmw76rKtBYD01Hw-lg7NXqDN5CBKUX60BAyBgAFzyQkofaxHostlAqaTZxEFEeS0YyIESDJqmZ9FgRnSqgQaIgOkGdvMj1KcKZpiozK68ELilkVFBjN0AzScBMIcAZ6tphmr9X9Tfm9Qid_918gQ6Ik6ywkNpL1CnXG31lAocyvXYW8w13Wb0o
link.rule.ids 310,311,783,787,792,793,799,27937,55086
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PT8IwFG4QD3pSI8bf9uDRwdZ17Xo2GFAwJmDCjby1XQQVDIKJ_vX2dQOi8eBta7pk7Xvpa1-_732EXNooErmwKkghcwcULnUAkdFBlKYmlhHEub9o796L1iO_HSSDCrlacWGstR58Zuv46O_yzVQvMFXWwFji4vcG2XT76lQUbK2l92DVFyXWLErGRey8deVtLIlRzMRL1MUswQSF8kwvqVA4U6plAajyXS4pNqFqtK97vSbiwOJ6-Q8_xFh8LLrZId3lKAoIynN9Mc_q-utXgcf_DnOX1NasP_qwimd7pGIn-2TsgtnYZ_Y_6dQtL68lb5PCxBQN8EJLvDud5vTDPqEnUlMo3b9TJKnNqC4VFV4-qduOZthhNsJcBn5rCthYjfRvmv3rVlDqMwQjFc6DxIYKIiEApJKh1jKyaJUEwVTaHeMg5jLRguXAmAXLMmf2xDCbGeBhaiA-INXJdGIPCc0tN7lbezVIzSHnijvPAZ5rBs6EAEdkH6dp-FZU4BiWM3T8d_MF2Wr1u51hp31_d0K2mRewQIDtKanOZwt75rYR8-zce883jELAcw
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2013+International+Conference+on+System+Science+and+Engineering+%28ICSSE%29&rft.atitle=Trajectory+optimization+and+optimal+control+of+vehicle+dynamics+under+critically+stable+driving+conditions&rft.au=Khatab%2C+Shaady&rft.au=Traechtler%2C+Ansgar&rft.date=2013-07-01&rft.pub=IEEE&rft.isbn=9781479900077&rft.issn=2325-0909&rft.spage=117&rft.epage=121&rft_id=info:doi/10.1109%2FICSSE.2013.6614644&rft.externalDocID=6614644
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2325-0909&client=summon
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2325-0909&client=summon
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2325-0909&client=summon