A Family of Iterative Gauss-Newton Shooting Methods for Nonlinear Optimal Control

• Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1 - 9
• Main Authors: Giftthaler, Markus, Neunert, Michael, Stauble, Markus, Buchli, Jonas, Diehl, Moritz
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2018
• Subjects: Convergence; Differential Dynamic Programming; Heuristic algorithms; Multiple Shooting; Nonlinear Model Predictive Control; Numerical Optimal Control; Optimal control; Prediction algorithms; Quadrupedal Robots; Robots; System dynamics; Trajectory; Trajectory Optimization

This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple shooting variants, combining advantages like straightforward initialization and a closed-loop forward integration. All algorithms have...