Riccati-ZORO: An efficient algorithm for heuristic online optimization of internal feedback laws in robust and stochastic model predictive control
Riccati-ZORO:一种用于鲁棒和随机模型预测控制中内部反馈律在线优化的高效算法
AI总结 本文提出Riccati-ZORO算法,用于管状最优控制问题,通过启发式不确定性成本设计联合优化名义轨迹和不确定性管,将计算复杂度从O(n_x^6)降至O(n_x^3)。
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