モデル予測制御arXiv:2409.18327
高周波モデル予測制御のための加速勾配降下法
Accelerated gradient descent for high frequency Model Predictive Control
トルク制御マニピュレータにおいて、一次法である加速勾配降下法が二次法と同等の性能を達成できることを示した研究。
著者: Jianghan Zhang, Armand Jordana, Ludovic Righetti
分類: cs.RO
原文アブストラクト
The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties, tailored efficient implementations are challenging to derive. In this work, we study the potential effectiveness of first-order methods and show on a torque controlled manipulator that they can equal the performances of second-order methods.
