Automatic differentiation of rigid body dynamics for optimal control and estimation.
Markus GiftthalerMichael NeunertMarkus StäubleMarco FrigerioClaudio SeminiJonas BuchliPublished in: Adv. Robotics (2017)
Keyphrases
- optimal control
- rigid body
- control problems
- dynamic programming
- rotation and translation
- rigid body motion
- feedback control
- control strategy
- motion parameters
- continuous stirred tank reactor
- reinforcement learning
- optimal control problems
- dynamic model
- infinite horizon
- lyapunov function
- class of nonlinear systems
- dynamical systems
- brownian motion
- control law
- real time
- viewpoint
- moving objects
- three dimensional
- neural network