Automatic Differentiation of Rigid Body Dynamics for Optimal Control and Estimation.
Markus GiftthalerMichael NeunertMarkus StäubleMarco FrigerioClaudio SeminiJonas BuchliPublished in: CoRR (2017)
Keyphrases
- optimal control
- rigid body
- control problems
- continuous stirred tank reactor
- rigid body motion
- dynamic programming
- feedback control
- class of nonlinear systems
- reinforcement learning
- rotation and translation
- control strategy
- infinite horizon
- motion parameters
- brownian motion
- lyapunov function
- control law
- rigid objects
- optimal control problems
- dynamical systems
- integer programming
- neural network