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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
J. Brüdigam and Z. Manchester 
Title:
Linear-Quadratic Optimal Control in Maximal Coordinates 
Abstract:
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are possible and recent research suggests that there may be numerical and control-theoretic advantages when using higher-dimensional non-minimal state parameterizations for dynamical systems. One such parameterization is maximal coordinates, in which each link in a m...    »
 
Keywords:
Optimization, Control, LQR, Maximal Coordinates 
Book / Congress title:
2021 IEEE International Conference on Robotics and Automation (ICRA) 
Date of congress:
30.05.2021 - 05.06.2021 
Year:
2021 
Reviewed:
ja