Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems
Year: 2004
Type: conference-paper
Abstract: This paper presents an Iterative Linear Quadratic Regulator (ILQR) method for locally-optimal feedback control of nonlinear dynamical systems. The method is applied to a musculo-skeletal arm model with 10 state dimensions and 6 controls, and is used to compute energy-optimal reaching movements. Numerical comparisons with three existing methods demonstrate that the new method converges substantially faster and finds slightly better solutions.
Authors: Weiwei Li, Emanuel Todorov
Institution: University of California San Diego
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W195033972