Differential dynamic programming: Difference between revisions

Revision as of 01:58, 11 November 2019

Revision as of 10:32, 12 February 2020

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\begin{alignat}{2}

\Delta V(i) &= &{} -\tfrac{1}{2}Q_Q^T_\mathbf{u} Q_{\mathbf{u}\mathbf{u}}^{-1}Q_\mathbf{u}\\

V_\mathbf{x}(i) &= Q_\mathbf{x} & {}- Q_\mathbf{xu} Q_{\mathbf{u}\mathbf{u}}^{-1}Q_{\mathbf{u}}\\

V_{\mathbf{x}\mathbf{x}}(i) &= Q_{\mathbf{x}\mathbf{x}} &{} - Q_{\mathbf{x}\mathbf{u}}Q_{\mathbf{u}\mathbf{u}}^{-1}Q_{\mathbf{u}\mathbf{x}}.