Optimal Position and Attitude Control of Quadcopter Using Stochastic Differential Dynamic Programming with Input Saturation Constraints.
Satoshi SatohHironori SaijoKatsuhiko YamadaPublished in: J. Robotics Mechatronics (2021)
Keyphrases
- dynamic programming
- optimal control
- stochastic dynamic programming
- stochastic control
- approximate dynamic programming
- locally optimal
- control problems
- linear programming
- control system
- brownian motion
- stereo matching
- greedy algorithm
- piecewise linear
- optimal solution
- control policies
- discrete event
- coarse to fine
- linear program
- optimality criteria
- control policy
- exhaustive search
- input data
- multistage
- forward and backward
- dp matching
- reinforcement learning
- worst case
- control signals
- monte carlo
- statistically significant
- feedback loop
- state dependent
- decision variables
- infinite horizon
- attitudes toward