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Fig. 5 | Autonomous Robots

Fig. 5

From: A feasibility-driven approach to control-limited DDP

Fig. 5

Gap contraction of Box-FDDP for different optimal control problems. For all the cases, the gaps were open for the first several iterations. The gap contraction rate varies according to the accepted step-length. Smaller contraction rates, during the first iterations, appeared in very nonlinear problems (taichi, man, hop, and jump), because of the larger error of the search direction(Color figure online)

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