Optimal control on special Euclidean group via natural gradient algorithm

Chunhui Li, Erchuan Zhang, Lin Jiu, Huafei Sun

    Research output: Contribution to journalArticle

    8 Citations (Scopus)

    Abstract

    Considering the optimal control problem about the control system of the special Euclidean group whose output only depends on its input is meaningful in practical applications. The optimal control considered here is described as the output matrix is as close as possible to the target matrix by adjusting the system input. The geodesic distance is adopted as the measure of the difference between the output matrix and the target matrix, and the trajectory of the control input obtained in the process is achieved. Furthermore, some numerical simulations are shown to illustrate our outcomes based on the natural gradient descent algorithm for optimizing the control system of the special Euclidean group.

    Original languageEnglish
    Article number112203
    JournalScience China Information Sciences
    Volume59
    Issue number11
    DOIs
    Publication statusPublished - 1 Nov 2016

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