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math.OC2022★ 3 cited
Iterative Linear Quadratic Optimization for Nonlinear Control: Differentiable Programming Algorithmic Templates
Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel +1
Iterative optimization algorithms depend on access to information about the objective function. In a differentiable programming framework, this information, such as gradients, can…
math.OC2022★ 1 cited
On Global and Local Convergence of Iterative Linear Quadratic Optimization Algorithms for Discrete Time Nonlinear Control
Vincent Roulet, Siddhartha Srinivasa, Maryam Fazel +1
A classical approach for solving discrete time nonlinear control on a finite horizon consists in repeatedly minimizing linear quadratic approximations of the original problem aroun…