Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems

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.

• Publication year

  2004

• Venue

  International Conference on Informatics in Control, Automation and Robotics

• Publication date

  Unknown publication date

• Fields of study

  Biology, Computer Science, Engineering

• Identifiers
  DOI 10.5220/0001143902220229
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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