Sparsity-Inducing Optimal Control via Differential Dynamic Programming
Traiko Dinev Wolfgang Merkt Vladimir Ivan Ioannis Havoutis Sethu Vijayakumar Traiko Dinev Wolfgang Merkt Vladimir Ivan Ioannis Havoutis Sethu Vijayakumar
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, L2 regularization is used on the control inputs in order to minimize energy used and to ensure smoothness of the control inputs. However, for some systems, such as satellites, the control needs to be applied in sparse bursts due to how the propulsion system operates. In this paper, we study approaches to induce sp...