Minimum sensitivity control for planning with parametric and hybrid uncertainty

I. J. Robotic Res., Volume 35, Issue 7, 2016, Pages 823-839.

Cited by: 5|Bibtex|Views20|Links
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Keywords:
Optimal controlmotion controlmotion planningnonlinear control systems

Abstract:

This paper introduces a method to minimize norms on nonlinear trajectory sensitivities during open-loop trajectory optimization. Specifically, we derive new parametric sensitivity terms that measure the variation in nonlinear continuous-time trajectories due to variations in model parameters, and hybrid sensitivities, which account for va...More

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