Seminar Details
2007-11-13 (14.00) : "Optimal control techniques for fast nonlinear systems"
At Euler building
Organized by Mathematical Engineering
Speaker :
Jean-Baptiste COULAUD
(CESAME)
Abstract :
"Several software packages have been designed in the past few years to bring
the efficiency of constrained optimal control to nonlinear systems with fast dynamics,
like robots. One of them (NTG), uses a spline description of the trajectories and reduces
the optimal control problem to an optimization one, taking advantage of dynamics inversion based on
differential flatness. The talk will focus on these techniques and some proposals for improvements
and adaptations."