Inverse dynamics‐based formulation of finite horizon optimal control problems for rigid‐body systems

Optimal Control Applications and Methods ◽

10.1002/oca.2750 ◽

2021 ◽

Author(s):

Sotaro Katayama ◽

Toshiyuki Ohtsuka

Keyword(s):

Optimal Control ◽

Optimal Control Problems ◽

Inverse Dynamics ◽

Finite Horizon ◽

Control Problems

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Efficient solution method based on inverse dynamics for optimal control problems of rigid body systems

10.1109/icra48506.2021.9561109 ◽

2021 ◽

Author(s):

Sotaro Katayama ◽

Toshiyuki Ohtsuka

Keyword(s):

Optimal Control ◽

Efficient Solution ◽

Solution Method ◽

Optimal Control Problems ◽

Inverse Dynamics ◽

Control Problems

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Efficient Solution Method Based on Inverse Dynamics of Optimal Control Problems for Fixed-Based Rigid-Body Systems

IFAC-PapersOnLine ◽

10.1016/j.ifacol.2020.12.1794 ◽

2020 ◽

Vol 53 (2) ◽

pp. 6483-6489

Author(s):

S. Katayama ◽

T. Ohtsuka

Keyword(s):

Optimal Control ◽

Efficient Solution ◽

Solution Method ◽

Optimal Control Problems ◽

Inverse Dynamics ◽

Control Problems

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A fixed-point characterization of the optimal costate in finite-horizon optimal control problems

IEEE Transactions on Automatic Control ◽

10.1109/tac.2020.3021403 ◽

2020 ◽

pp. 1-1

Author(s):

Mario Sassano ◽

Alessandro Astolfi

Keyword(s):

Optimal Control ◽

Fixed Point ◽

Optimal Control Problems ◽

Finite Horizon ◽

Control Problems

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Adaptive dynamic programming for terminally constrained finite-horizon optimal control problems

53rd IEEE Conference on Decision and Control ◽

10.1109/cdc.2014.7040185 ◽

2014 ◽

Author(s):

L. Andrews ◽

J. R. Klotz ◽

R. Kamalapurkar ◽

W. E. Dixon

Keyword(s):

Optimal Control ◽

Dynamic Programming ◽

Optimal Control Problems ◽

Finite Horizon ◽

Adaptive Dynamic Programming ◽

Control Problems ◽

Adaptive Dynamic

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Large finite horizon and infinite horizon lq-optimal control problems

Optimal Control Applications and Methods ◽

10.1002/oca.4660040104 ◽

1983 ◽

Vol 4 (1) ◽

pp. 31-45 ◽

Author(s):

J. L. Willems ◽

F. M. Callier

Keyword(s):

Optimal Control ◽

Optimal Control Problems ◽

Infinite Horizon ◽

Finite Horizon ◽

Control Problems ◽

Lq Optimal Control

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Analytic Solutions for Infinite Horizon Stochastic Optimal Control Problems via Finite Horizon Approximation: A Practical Guide

SSRN Electronic Journal ◽

10.2139/ssrn.1374216 ◽

2009 ◽

Author(s):

Christian-Oliver Ewald ◽

Wen-Kai Wang

Keyword(s):

Optimal Control ◽

Stochastic Optimal Control ◽

Optimal Control Problems ◽

Infinite Horizon ◽

Analytic Solutions ◽

Finite Horizon ◽

Control Problems ◽

Practical Guide

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Finding initial costates in finite-horizon nonlinear-quadratic optimal control problems

Optimal Control Applications and Methods ◽

10.1002/oca.824 ◽

2008 ◽

Vol 29 (3) ◽

pp. 225-242 ◽

Author(s):

Vicente Costanza

Keyword(s):

Optimal Control ◽

Optimal Control Problems ◽

Finite Horizon ◽

Control Problems ◽

Quadratic Optimal Control

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Algebraic approach to nonlinear finite-horizon optimal control problems with terminal constraints

2017 11th Asian Control Conference (ASCC) ◽

10.1109/ascc.2017.8287093 ◽

2017 ◽

Author(s):

Tomoyuki Iori ◽

Yu Kawano ◽

Toshiyuki Ohtsuka

Keyword(s):

Optimal Control ◽

Optimal Control Problems ◽

Algebraic Approach ◽

Finite Horizon ◽

Control Problems ◽

Terminal Constraints

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Minimax optimal control problems. Numerical analysis of the finite horizon case

ESAIM Mathematical Modelling and Numerical Analysis ◽

10.1051/m2an:1999103 ◽

1999 ◽

Vol 33 (1) ◽

pp. 23-54 ◽

Author(s):

Silvia C. Di Marco ◽

Roberto L.V. González

Keyword(s):

Optimal Control ◽

Numerical Analysis ◽

Optimal Control Problems ◽

Finite Horizon ◽

Control Problems ◽

Minimax Optimal Control ◽

Minimax Optimal Control Problems ◽

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Structural invariants of the singular Hamiltonian system and non-iterative solution of finite-horizon optimal control problems

2007 American Control Conference ◽

10.1109/acc.2007.4282196 ◽

2007 ◽

Author(s):

G. Marro ◽

E. Zattoni

Keyword(s):

Optimal Control ◽

Hamiltonian System ◽

Optimal Control Problems ◽

Iterative Solution ◽

Finite Horizon ◽

Control Problems ◽

Singular Hamiltonian System ◽

Structural Invariants

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