Fast Direct Multiple Shooting Algorithms for Optimal Robot Control

DOI10.1007/978-3-540-36119-0_4MaRDI QIDQ5248620zbMATH OpenOpenAlexWikidataFDO

Authors Moritz Diehl, Hans Georg Bock, Holger Diedam, Pierre-Brice Wieber

Publication date 8 May 2015

Published in Lecture Notes in Control and Information Sciences (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-540-36119-0_4

Mathematics Subject Classification ID

Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02) Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Computational methods for problems pertaining to mechanics of particles and systems (70-08)

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Cited in

(27)

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• Fast nonlinear model predictive control combining online trajectory optimization and value function regression
• Leveraging randomized smoothing for optimal control of nonsmooth dynamical systems
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• General algorithm for analytical calculations of Jacobi matrix elements in sparse nonlinear programming problems
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• Numerical bifurcation analysis of the bipedal spring-mass model
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• Iterative linear quadratic optimization for nonlinear control: differentiable programming algorithmic templates
• A robust pseudospectral method for numerical solution of nonlinear optimal control problems
• A modified multiple shooting algorithm for parameter estimation in ODEs using adjoint sensitivity analysis
• Unconventional monetary policy in a nonlinear quadratic model
• Space-time marching-based neural direct method for the high-dimensional Hamilton-Jacobi-Bellman equation
• Analysis of open-loop control design and parallel computation for underactuated manipulators
• A non‐inherent parametric estimation for dynamical equivalence of flexible manipulators
• On global and local convergence of iterative linear quadratic optimization algorithms for discrete time nonlinear control
• An SQP-based multiple shooting algorithm for large-scale PDE-constrained optimal control problems
• Distributed cruise control of high-speed trains
• A real-time collision-free maneuver generation algorithm for autonomous driving
• Inverse dynamics of serial and parallel underactuated multibody systems using a DAE optimal control approach
• Recent advances on the algorithmic optimization of robot motion
• Direct multiple shooting and direct collocation perform similarly in biomechanical predictive simulations

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