On the benefits of surrogate Lagrangians in optimal control and planning algorithms

Gerardo De La Torre; Todd D. Murphey

doi:10.1109/CDC.2016.7799410

On the benefits of surrogate Lagrangians in optimal control and planning algorithms

Gerardo De La Torre, Todd D. Murphey

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

This paper explores the relationship between numerical integrators and optimal control algorithms. Specifically, the performance of the differential dynamical programming (DDP) algorithm is examined when a variational integrator and a newly proposed surrogate variational integrator are used to propagate and linearize system dynamics. Surrogate variational integrators, derived from backward error analysis, achieve higher levels of accuracy while maintaining the same integration complexity as nominal variational integrators. The increase in the integration accuracy is shown to have a large effect on the performance of the DDP algorithm. In particular, significantly more optimized inputs are computed when the surrogate variational integrator is utilized.

Original language	English (US)
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7384-7391
Number of pages	8
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7799410
State	Published - Dec 27 2016
Event	55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States Duration: Dec 12 2016 → Dec 14 2016

Publication series

Name	2016 IEEE 55th Conference on Decision and Control, CDC 2016

Other

Other	55th IEEE Conference on Decision and Control, CDC 2016
Country	United States
City	Las Vegas
Period	12/12/16 → 12/14/16

ASJC Scopus subject areas

Artificial Intelligence
Decision Sciences (miscellaneous)
Control and Optimization

Access to Document

10.1109/CDC.2016.7799410

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De La Torre, G., & Murphey, T. D. (2016). On the benefits of surrogate Lagrangians in optimal control and planning algorithms. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 7384-7391). [7799410] (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7799410

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De La Torre, G & Murphey, TD 2016, On the benefits of surrogate Lagrangians in optimal control and planning algorithms. in 2016 IEEE 55th Conference on Decision and Control, CDC 2016., 7799410, 2016 IEEE 55th Conference on Decision and Control, CDC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 7384-7391, 55th IEEE Conference on Decision and Control, CDC 2016, Las Vegas, United States, 12/12/16. https://doi.org/10.1109/CDC.2016.7799410

On the benefits of surrogate Lagrangians in optimal control and planning algorithms. / De La Torre, Gerardo; Murphey, Todd D.

2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 7384-7391 7799410 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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