Yangzhi Li

2 accepted papers

2023

Data-Driven Iterative Optimal Control for Switched Dynamical Systems

RA-L 2023

This article presents a data-driven algorithm to compute optimal control inputs for input-constrained nonlinear optimal control problems with switched dynamics. We consider multi-stage optimal control problems where the control inputs and the switching instants are both unknown. Our key contribution

Cited by 8 Source ↗Scholar ↗

2019

Algorithmic Resolution of Multiple Impacts in Nonsmooth Mechanical Systems with Switching Constraints

Yangzhi Li, Haoyong Yu, David J. Braun

ICRA 2019poster

We present a differential-algebraic formulation with switching constraints to model the nonsmooth dynamics of robotic systems subject to changing constraints and multiple impacts. The formulation combines a single structurally simple governing equation, a set of switching kinematic constraints, and…

Cited by 4 Source ↗Scholar ↗