Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems

This paper presents an Iterative Linear Quadratic Regulator (ILQR) method for locally-optimal feedback control of nonlinear dynamical systems. The method is applied to a musculo-skeletal arm model with 10 state dimensions and 6 controls, and is used to compute energy-optimal reaching movements. Numerical comparisons with three existing methods demonstrate that the new method converges substantially faster and finds slightly better solutions.

• Type: Conference
• Year: 2004
• Where: ICINCO
• Authors: Weiwei Li, Emanuel Todorov
• Keywords: ICINCO 2004, ICINCO 2007, Linear Quadratic Regulator, Musculo-skeletal Arm Model, Nonlinear Dynamical Systems