Accelerated gradient descent for high frequency Model Predictive Control

Jianghan Zhang; Armand Jordana; Ludovic Righetti

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arXiv · 2409.18327

Accelerated gradient descent for high frequency Model Predictive Control

Jianghan Zhang·Armand Jordana·Ludovic Righetti

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Abstract

The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties, tailored efficient implementations are challenging to derive. In this work, we study the potential effectiveness of first-order methods and show on a torque controlled manipulator that they can equal the performances of second-order methods.

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Jianghan Zhang, Armand Jordana, Ludovic Righetti. 2024-09-26. Accelerated gradient descent for high frequency Model Predictive Control. https://arxiv.org/abs/2409.18327

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