Differential dynamic programming

Differential dynamic programming (DDP) is an optimal control algorithm of the trajectory optimization class. The algorithm was introduced in 1966 by Mayne[1] and subsequently analysed in Jacobson and Mayne's eponymous book.[2] The algorithm uses locally-quadratic models of the dynamics and cost functions, and displays quadratic convergence. It is closely related to Pantoja's step-wise Newton's method.[3][4]

  1. ^ Mayne, D. Q. (1966). "A second-order gradient method of optimizing non-linear discrete time systems". Int J Control. 3: 85–95. doi:10.1080/00207176608921369.
  2. ^ Mayne, David Q.; Jacobson, David H. (1970). Differential dynamic programming. New York: American Elsevier Pub. Co. ISBN 978-0-444-00070-5.
  3. ^ de O. Pantoja, J. F. A. (1988). "Differential dynamic programming and Newton's method". International Journal of Control. 47 (5): 1539–1553. doi:10.1080/00207178808906114. ISSN 0020-7179.
  4. ^ Liao, L. Z.; C. A Shoemaker (1992). "Advantages of differential dynamic programming over Newton's method for discrete-time optimal control problems". Cornell University. hdl:1813/5474.