4.2 Article

Modelling nonlinear vehicle dynamics with neural networks

Journal

INTERNATIONAL JOURNAL OF VEHICLE DESIGN
Volume 53, Issue 4, Pages 260-287

Publisher

INDERSCIENCE ENTERPRISES LTD
DOI: 10.1504/IJVD.2010.034101

Keywords

nonlinear vehicle model; neural networks; modelling nonlinear dynamics; nonlinear vehicle control; nonlinear vehicle identification; neural network weight convergence; off-line neural network training; online neural network training

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The nonlinear modelling ability of neural networks has been widely recognised as an effective tool to identify and control dynamic systems, with applications including nonlinear vehicle dynamics which this paper focuses on using multi-layer perceptron networks. Existing neural network literature does not detail some of the factors which effect neural network nonlinear modelling ability. This paper investigates into and concludes on required network size, structure and initial weights, considering results for networks of converged weights. The paper also presents an online training method and an error measure representing the network's parallel modelling ability over a range of operating conditions.

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