Summary
2023
Session Number:C2L-2
Session:
Number:C2L-23
Iterative Linear Quadratic Regulator Using Variational Equation: A Case Study with Swing-Up Control of Inverted Pendulum
Shigematsu Katsuya, Hoshino Hikaru, Furutani Eiko,
pp.471-474
Publication Date:2023-09-21
Online ISSN:2188-5079
Summary:
This paper discusses the discretization method that is used in the implementation of an optimization-based nonlinear feedback controller called Iterative Linear Quadratic Regulator (ILQR). While a finite difference approximation is usually used in the field of control　engineering, we propose to use the variational equation in the procedure of ILQR. The effectiveness of using the variational equation is examined through a case study with swing-up control of an inverted pendulum.