Neighboring optimal control for periodic tasks for systems with discontinuous dynamics

DOI10.1007/s11432-011-4185-zzbMath1227.49036OpenAlexW2075167234MaRDI QIDQ543282

Christopher G. Atkeson, Cheng Gang Liu, Jian-Bo Su

Publication date: 17 June 2011

Published in: Science China. Information Sciences (Search for Journal in Brave)

Full work available at URL: http://engine.scichina.com/doi/10.1007/s11432-011-4185-z

zbMATH Keywords

optimal controltrajectory optimizationbiped walking controldifferential dynamic programming

Mathematics Subject Classification ID

Dynamic programming in optimal control and differential games (49L20) Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85)

Related Items (1)

Optimal control of a class of nonlinear stochastic systems

Uses Software

• SNOPT
• OTIS

Cites Work

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• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• The computation and theory of optimal control
• Legged robots
• Direct trajectory optimization using nonlinear programming and collocation
• SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
• Hybrid zero dynamics of planar biped walkers

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