This article presents a unified approach to quadratic optimal control for
both linear and nonlinear discrete-time systems, with a focus on trajectory
tracking. The control strategy is based on minimizing a quadratic cost function
that penalizes deviations of system states and control inputs from their
desired trajectories.
For linear systems, the classical Linear Quadratic Regulator (LQR) solution
is derived using dynamic programming, resulting in recursive equations for
feedback and feedforward terms. For nonlinear dynamics, the Iterative Linear
Quadratic Regulator (iLQR) method is employed, which iteratively linearizes the
system and solves a sequence of LQR problems to converge to an optimal policy.
To implement this approach, a software service was developed and tested on
several canonical models, including: Rayleigh oscillator, inverted pendulum on
a moving cart, two-link manipulator, and quadcopter. The results confirm that
iLQR enables efficient and accurate trajectory tracking in the presence of
nonlinearities.
To further enhance performance, it can be seamlessly integrated with Model
Predictive Control (MPC), enabling online adaptation and improved robustness to
constraints and system uncertainties.

Cet article explore les excursions dans le temps et leurs implications.

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