Neighboring optimal control for periodic tasks for systems with discontinuous dynamics

查看全文 作　　者：LIU [1]ChengGang;ATKESON Christopher [2]G;SU [1]JianBo

机构地区：[1]Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China;[2]Robotics Institute, Carnegie Mellon University, Pittsburgh 15213, PA, USA

出　　处：《Science China(Information Sciences)》索引2011年第54卷第3期,共11页

基　　金：supported by the National Natural Science Foundation of China (Grant No. 60935001);the National Science Foundation of US (Grant Nos. ECCS-0325383, EEC-0540865, ECCS-0824077,IIS-0964581) 摘　　要：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 simu- lated 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. 关键词：最优控制方法动力学系统微分动态规划最优控制律本地控制器间断邻国连续动态系统

相关文献

参考文献（10）
引证文献（2）
耦合文献（0）

参考文献(10)

引证文献(2)

互联网出版许可证新出网证(渝)字10号全国400电话 - 免长途话费

Neighboring optimal control for periodic tasks for systems with discontinuous dynamics

参考文献(10)

引证文献(2)

用户提示