ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS

Weiwei Li; Emanuel Todorov

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Paper

ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS

Topics: Optimization Algorithms

In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 222-229, 2004 , Setúbal, Portugal

Authors: Weiwei Li and Emanuel Todorov

Affiliation: University of California San Diego, United States

Keyword(s): ILQR, Optimal control, Nonlinear system.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Optimization Algorithms

Abstract: This paper presents an Iterative Linear Quadratic Regulator (ILQR) method for locally-optimal feedback control of nonlinear dynamical systems. The method is applied to a musculo-skeletal arm model with 10 state dimensions and 6 controls, and is used to compute energy-optimal reaching movements. Numerical comparisons with three existing methods demonstrate that the new method converges substantially faster and finds slightly better solutions.

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Paper citation in several formats:

Li, W. and Todorov, E. (2004). ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS. In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 972-8865-12-0; ISSN 2184-2809, SciTePress, pages 222-229. DOI: 10.5220/0001143902220229

@conference{icinco04,
author={Weiwei Li. and Emanuel Todorov.},
title={ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2004},
pages={222-229},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001143902220229},
isbn={972-8865-12-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - ITERATIVE LINEAR QUADRATIC REGULATOR DESIGN FOR NONLINEAR BIOLOGICAL MOVEMENT SYSTEMS
SN - 972-8865-12-0
IS - 2184-2809
AU - Li, W.
AU - Todorov, E.
PY - 2004
SP - 222
EP - 229
DO - 10.5220/0001143902220229
PB - SciTePress