Squash-Box Feasibility Driven Differential Dynamic Programming
Josep Marti-Saumell,Joan Solà,Carlos Mastalli,Angel Santamaria-Navarro,Josep Marti-Saumell,Joan Solà,Carlos Mastalli,Angel Santamaria-Navarro
Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that they have a lower computational cost per iteration when compared with off-the-shelf Non-Linear Programming (NLP) solvers, which enables its online operation. However, they cannot ha...
