论文标题
使用控制延迟扩展ILQR方法
Extending iLQR method with control delay
论文作者
论文摘要
迭代线性四边形调节剂（ILQR）已成为处理非线性随机最佳控制问题的基准方法。但是，它不适用于延迟系统。在本文中，我们扩展了ILQR理论，并在固定延迟的输入信号时证明了新定理。这可能对机器学习或实时机器人或人类辅助设备的最佳控制应用可能有益。
Iterative linear quadradic regulator(iLQR) has become a benchmark method to deal with nonlinear stochastic optimal control problem. However, it does not apply to delay system. In this paper, we extend the iLQR theory and prove new theorem in case of input signal with fixed delay. Which could be beneficial for machine learning or optimal control application to real time robot or human assistive device.
