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The Time-Freezing Reformulation for Numerical Optimal Control of Complementarity Lagrangian Systems with State Jumps.
Armin Nurkanovic
Sebastian Albrecht
Bernard Brogliat
Moritz Diehl
Published in:
CoRR (2021)
Keyphrases
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optimal control
dynamic programming
control problems
feedback control
reinforcement learning
state space
neural network
optimal control problems
optimal solution
multistage
control strategy
class of nonlinear systems