Optimal Control of a Humanoid Robot Modelled by Autonomous Switched System

José Luis Mendieta-Antúnez and Carlos A. Cruz-Villar


Hybrid systems, autonomous switched systems, optimal timing control, sensitivities


This paper proposes a new approach to online solve the optimal control problem of a humanoid robot modelled as a hybrid system. It minimizes a performance index defined over the states trajectories by finding the optimal switching times given a fixed switching sequence. The gradient of this cost functional is computed by using the sensitivities of the system's states with respect to the switching times, which let us to express them as a continuous dynamics.Simulation examples are provided to show the effectiveness of the proposed approach.

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