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math.OC2024★ 2 cited
Optimal Control using Composite Bernstein Approximants
Gage MacLin, Venanzio Cichella, Andrew Patterson +2
In this work, we present composite Bernstein polynomials as a direct collocation method for approximating optimal control problems. An analysis of the convergence properties of com…
math.OC2022★ 1 cited
Parameterized Differential Dynamic Programming
Alex Oshin, Matthew D. Houghton, Michael J. Acheson +2
Differential Dynamic Programming (DDP) is an efficient trajectory optimization algorithm relying on second-order approximations of a system's dynamics and cost function, and has re…