Simulation-based LQR-trees with input and state constraints
We present an algorithm that probabilistically covers a bounded region of the state space of a nonlinear system with a sparse tree of feedback stabilized trajectories leading to a goal state. The generated tree serves as a lookup table control policy to get any reachable initial condition within tha...
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| Other Authors: | , |
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE),
2012-10-02T13:11:38Z.
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| Subjects: | |
| Online Access: | Get fulltext |