History

Shunichi09 addbaacc7a modify bag		2019-02-25 18:17:52 +09:00
..
README.md	add iLQR	2019-02-24 22:28:21 +09:00
animation.py	add iLQR	2019-02-24 22:28:21 +09:00
ilqr.py	modify bag	2019-02-25 18:17:52 +09:00
main.py	add iLQR	2019-02-24 22:28:21 +09:00
model.py	add iLQR	2019-02-24 22:28:21 +09:00

Iterative Linear Quadratic Regulator

This program is about iLQR (Iteratice Linear Quadratic Regulator)

Problem Formulation

study wolf https://github.com/studywolf/control
Sergey Levine's lecture http://rail.eecs.berkeley.edu/deeprlcourse/
Tassa, Y., Erez, T., & Todorov, E. (2012). Synthesis and stabilization of complex behaviors through online trajectory optimization. IEEE International Conference on Intelligent Robots and Systems, 4906–4913. https://doi.org/10.1109/IROS.2012.6386025
Li, W., & Todorov, E. (n.d.). Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems. Retrieved from https://homes.cs.washington.edu/~todorov/papers/LiICINCO04.pdf