Study KKT dynamics against state constraints in OCP

[wxmerkt]

In GitLab by @cmastalli on Dec 24, 2018, 14:32

It is possible that the two problems are equivalent. In such a case, it might be better to directly handle the contact constraint as a state constraint, either with penalty or aug-lag.

From KKT analyses, equality constraints (e.g. holonomic contact models) can be described as

1. Laine Forrest and Claire Tomlin. Efficient Computation of Feedback Control for Constrained Systems

Another important paper to study that considers inequalities constraint is:

2. Xie, Zhaoming et al. Differential dynamic programming with nonlinear constraints

[wxmerkt]

In GitLab by @cmastalli on Dec 24, 2018, 14:33

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[wxmerkt]

In GitLab by @cmastalli on Dec 25, 2018, 16:33

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[wxmerkt]

In GitLab by @cmastalli on Dec 25, 2018, 16:52

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[wxmerkt]

In GitLab by @cmastalli on Jan 14, 2019, 22:03

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[wxmerkt]

In GitLab by @cmastalli on Jan 14, 2019, 22:03

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[wxmerkt]

In GitLab by @cmastalli on Jan 14, 2019, 22:05

@nmansard do you have any though regarding this topic? I am eager to explore method number 1 for DDP case. My plan would be to use it for one single locomotion phase, and next to move for multiple phases.

I could start to work on this immediately!

[wxmerkt]

In GitLab by @cmastalli on Jul 18, 2019, 17:30

closed