An application of neural networks to control stability of an articulated vehicle in real time

Abstract

The paper presents an application of neural networks to control braking torques on wheels of an articulated vehicle in an untripped rollover manoeuvre. The numerical model of the articulated vehicle and dynamic optimisation were used to calculate appropriate braking torques for each wheel in order to restore stability. The optimisation problem requires the equations of motion to be integrated at each optimisation step and the models cannot be applied for controlling the motion in real time. Therefore, in the next step multilayer perceptron network has been proposed. Multiple dynamic optimisation tasks have been solved in order to calculate appropriate braking torques, which form a training set of the neural network. In the paper, results obtained from dynamic optimisation and neural network have been presented and compared.