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翻訳と辞書　辞書検索 [ 開発暫定版 ] スポンサード リンク Differential dynamic programming ： ウィキペディア英語版 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 and subsequently analysed in Jacobson and Mayne's eponymous book. 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. == Finite-horizon discrete-time problems == The dynamics describe the evolution of the state $\backslash textstyle\backslash mathbf$ given the control $\backslash mathbf$ from time $i$ to time $i+1$. The ''total cost'' $J\_0$ is the sum of running costs $\backslash textstyle\backslash ell$ and final cost $\backslash ell\_f$, incurred when starting from state $\backslash mathbf$ and applying the control sequence $\backslash mathbf\; \backslash equiv\; \backslash \_1\backslash dots,\backslash mathbf\_\backslash \}$ until the horizon is reached: :$J\_0(\backslash mathbf,\backslash mathbf)=\backslash sum\_^\backslash ell(\backslash mathbf\_i,\backslash mathbf\_i)\; +\; \backslash ell\_f(\backslash mathbf\_N),$ where $\backslash mathbf\_0\backslash equiv\backslash mathbf$, and the $\backslash mathbf\_i$ for $i>0$ are given by . The solution of the optimal control problem is the minimizing control sequence $\backslash mathbf^$ *(\mathbf)\equiv \operatorname_,\mathbf). ''Trajectory optimization'' means finding $\backslash mathbf^$ *(\mathbf) for a particular $\backslash mathbf$, rather than for all possible initial states. 抄文引用元・出典: フリー百科事典『 ウィキペディア（Wikipedia）』 ■ウィキペディアで「Differential dynamic programming」の詳細全文を読む スポンサード リンク 翻訳と辞書 : 翻訳のためのインターネットリソース Copyright(C) kotoba.ne.jp 1997-2016. All Rights Reserved.