相关论文: iLQR for Piecewise-Smooth Hybrid Dynamical Systems
The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As…
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…
Trajectory optimization has been used extensively in robotic systems. In particular, iterative Linear Quadratic Regulator (iLQR) has performed well as an off-line planner and online nonlinear model predictive control solver, with a lower…
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and actuation limits are present. In this letter, we extend the…
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time…
In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the saltation matrix, a first order approximation of the…
Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the…
While differentiable control has emerged as a powerful paradigm combining model-free flexibility with model-based efficiency, the iterative Linear Quadratic Regulator (iLQR) remains underexplored as a differentiable component. The…
This paper presents a state and state-input constrained variant of the discrete-time iterative Linear Quadratic Regulator (iLQR) algorithm, with linear time-complexity in the number of time steps. The approach is based on a projection of…
This work introduces a novel control strategy called Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which aims to improve closed-loop performance with local trajectory optimization for iterative tasks in a dynamic…
Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to…
Real-time optimal control remains a fundamental challenge in robotics, especially for nonlinear systems with stringent performance requirements. As one of the representative trajectory optimization algorithms, the iterative Linear Quadratic…
In this paper, we introduce a reduced order model-based reinforcement learning (MBRL) approach, utilizing the Iterative Linear Quadratic Regulator (ILQR) algorithm for the optimal control of nonlinear partial differential equations (PDEs).…
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting variants, combining advantages like straight-forward…
In the context of autonomous driving, the iterative linear quadratic regulator (iLQR) is known to be an efficient approach to deal with the nonlinear vehicle model in motion planning problems. Particularly, the constrained iLQR algorithm…
Model Predictive Control (MPC) is a popular strategy for controlling robots but is difficult for systems with contact due to the complex nature of hybrid dynamics. To implement MPC for systems with contact, dynamic models are often…
This paper discusses discretization methods for implementing nonlinear model predictive controllers using Iterative Linear Quadratic Regulator (ILQR). Finite-difference approximations are mostly used to derive a discrete-time state equation…
Constrained Iterative Linear Quadratic Regulator (CILQR), a variant of ILQR, has been recently proposed for motion planning problems of autonomous vehicles to deal with constraints such as obstacle avoidance and reference tracking. However,…
This paper addresses the advancements in on-road trajectory planning for Autonomous Passenger Vehicles (APV). Trajectory planning aims to produce a globally optimal route for APVs, considering various factors such as vehicle dynamics,…
Collision avoidance is one of the most challenging tasks people need to consider for developing the self-driving technology. In this paper we propose a new spatiotemporal motion planning algorithm that efficiently solves a constrained…