Nonsmooth Optimal Value and Policy Functions in Mechanical Systems Subject to Unilateral Constraints

State-of-the-art approaches to optimal control use smooth approximations of value and policy functions and gradient-based algorithms for improving approximator parameters. Unfortunately, we show that value and policy functions that arise in optimal control of mechanical systems subject to unilateral...

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Bibliographic Details

Published in:	IEEE control systems letters Vol. 4; no. 2; pp. 506 - 511
Main Authors:	Banjanin, Bora S., Burden, Samuel A.
Format:	Journal Article
Language:	English
Published:	IEEE 01.04.2020
Subjects:	Cost function Force Heuristic algorithms hybrid systems Mechanical systems Optimal control robotics Robots Trajectory
ISSN:	2475-1456, 2475-1456
Online Access:	Get full text
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