Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems

DOI10.1002/OCA.2750zbMath1486.49050OpenAlexW3168535986MaRDI QIDQ5067044

Toshiyuki Ohtsuka, Sotaro Katayama

Publication date: 31 March 2022

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2750

zbMATH Keywords

optimal controlroboticsmodel predictive controlrigid-body systems

Mathematics Subject Classification ID

Stability problems in rigid body dynamics (70E50) Inverse problems in optimal control (49N45)

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