Neighboring optimal control for periodic tasks for systems with discontinuous dynamics
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- Liu, C., Atkeson, C.G. & Su, J. Sci. China Inf. Sci. (2011) 54: 653. doi:10.1007/s11432-011-4185-z
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We propose a trajectory-based optimal control method for periodic tasks for systems with discontinuous dynamics. A general method, dynamic programming, suffers from the problem of dimensionality. We use local models of the optimal control law to construct a local controller. We combine a parametric trajectory optimization method and differential dynamic programming (DDP) to find the optimal periodic trajectory in a periodic task. By formulating the optimal control problem with an infinite time horizon, DDP generates time-invariant local models of the optimal control law. For DDP, the value function at dynamics discontinuities is approximated by a second order Taylor series. The utility of the proposed method is evaluated using simulated walking control of a five-link biped robot. The results show lower torques and more robustness from the proposed controller than a PD servo controller.