A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control

DOI10.1002/oca.2228zbMath1351.93099OpenAlexW2216740760MaRDI QIDQ2835496

Hong-yang Li, Yan-Tao Tian, Jing Wang, Zhongbo Sun

Publication date: 5 December 2016

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

Full work available at URL: https://doi.org/10.1002/oca.2228

zbMATH Keywords

global convergenceperiodic gaitbipedal walking robotdiscrete mechanics and optimal controlfeasible sequential quadratic programming algorithm

Mathematics Subject Classification ID

Quadratic programming (90C20) Applications of optimal control and differential games (49N90) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05)

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