Name
Title | ||
|---|---|---|
Neighboring optimal control for periodic tasks for systems with discontinuous dynamics |
Abstract | ||
|---|---|---|
We propose a trajectory-based optimal control method for periodic tasks for systems with discontinuous dynamics. A general
method, dynamic programming, suffers from the problem of dimensionality. We use local models of the optimal control law to
construct a local controller. We combine a parametric trajectory optimization method and differential dynamic programming
(DDP) to find the optimal periodic trajectory in a periodic task. By formulating the optimal control problem with an infinite
time horizon, DDP generates time-invariant local models of the optimal control law. For DDP, the value function at dynamics
discontinuities is approximated by a second order Taylor series. The utility of the proposed method is evaluated using simulated
walking control of a five-link biped robot. The results show lower torques and more robustness from the proposed controller
than a PD servo controller. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1007/s11432-011-4185-z | 中国科学:信息科学(英文版) |
Keywords | Field | DocType |
differential dynamic programming,trajectory optimization,optimal control,biped walking control,second order,taylor series,generation time,value function | Dynamic programming,Mathematical optimization,Control theory,Differential dynamic programming,Optimal control,Trajectory optimization,Control theory,Bellman equation,Servo control,Mathematics,Trajectory | Journal |
Volume | Issue | ISSN |
54 | 03 | 1869-1919 |
Citations | PageRank | References |
4 | 0.70 | 20 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| chenggang liu | 1 | 40 | 3.74 |
| Christopher G. Atkeson | 2 | 5441 | 849.86 |
| Jianbo Su | 3 | 231 | 38.20 |