Solving optimal control of rigid-body dynamics with collisions using the hybrid minimum principle
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Publication:6399428
arXiv2205.08622MaRDI QIDQ6399428FDOQ6399428
Authors: Wei Hu, Jihao Long, Yaohua Zang, Weinan E, Jiequn Han 
Publication date: 17 May 2022
Abstract: Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for the optimal control problem of such hybrid dynamical systems based on solving the equations derived from the hybrid minimum principle (HMP). The algorithm is an iterative scheme following the spirit of the method of successive approximations (MSA), and it is robust to undesired collisions observed in the initial guesses. We analyze the discontinuities in the system and propose a stable collision condition, which is crucial for the convergence of iterative algorithms in systems experiencing collisions. Subsequently, we establish a convergence theorem demonstrating linear convergence for the MSA algorithm when collisions are present. We also address several numerical challenges introduced by the discontinuities. The algorithm is tested on disc collision problems whose optimal solutions exhibit one or multiple collisions. Linear convergence in terms of iteration steps and asymptotic first-order accuracy in terms of time discretization are observed when the algorithm is implemented with the forward-Euler scheme. The numerical results demonstrate that the proposed algorithm has better accuracy and convergence than direct methods based on gradient descent. Furthermore, the algorithm is also simpler, more accurate, and more stable than a deep reinforcement learning method.
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