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arXiv 2005.00985math.OC
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约束微分动态规划的再认识

Constrained Differential Dynamic Programming Revisited

Yuichiro Aoyama, George Boutselis, Akash Patel, Evangelos A. Theodorou

摘要:

微分动态规划(DDP)已成为无约束轨迹优化的一种成熟方法。尽管它在机器人和控制的几个应用,然而,一个广泛成功的约束版本的算法尚未开发。本文基于罚函数法和有效集方法,设计了一种基于动态规划的约束最优控制方法。关于前者,我们的推导采用了约束版本的贝尔曼的最优性原理,通过引入一组辅助松弛变量在向后通过。同时,我们展示了如何增广拉格朗日方法可以自然地纳入DDP,通过利用一组特定的惩罚拉格朗日函数,保持二阶可微性。我们的实验表明,我们的扩展(单独和组合)显着提高算法的收敛性能,并优于以前的方法在大量的模拟场景。

英文摘要:

Differential Dynamic Programming (DDP) has become a well established method for unconstrained trajectory optimization. Despite its several applications in robotics and controls however, a widely successful constrained version of the algorithm has yet to be developed. This paper builds upon penalty methods and active-set approaches, towards designing a Dynamic Programming-based methodology for constrained optimal control. Regarding the former, our derivation employs a constrained version of Bellman's principle of optimality, by introducing a set of auxiliary slack variables in the backward pass. In parallel, we show how Augmented Lagrangian methods can be naturally incorporated within DDP, by utilizing a particular set of penalty-Lagrangian functions that preserve second-order differentiability. We demonstrate experimentally that our extensions (individually and combinations thereof) enhance significantly the convergence properties of the algorithm, and outperform previous approaches on a large number of simulated scenarios.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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