Neighboring optimal control for periodic tasks for systems with discontinuous dynamics

DOI10.1007/S11432-011-4185-ZMaRDI QIDQ543282zbMATH OpenOpenAlexFDO

Authors Christopher G. Atkeson, Cheng Gang Liu, Jianbo 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)

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Cites work

• scientific article; zbMATH DE number 3325181 (Why is no real title available?)
• scientific article; zbMATH DE number 3354103 (Why is no real title available?)
• Biped locomotion. Dynamics, stability, control and application. Transl. from Serbo-Croatian
• Direct trajectory optimization using nonlinear programming and collocation
• Hybrid zero dynamics of planar biped walkers
• Legged robots
• Practical methods for optimal control using nonlinear programming
• SNOPT: An SQP Algorithm for Large-Scale Constrained Optimization
• The computation and theory of optimal control

Cited in

(2)

• An optimal control approach to the design of periodic orbits for mechanical systems with impacts
• Optimal control of a class of nonlinear stochastic systems

Describes a project that uses

Uses Software

• SNOPT
• OTIS

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