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Optimal control (OC) algorithms such as Differential Dynamic Programming (DDP) take advantage of the derivatives of the dynamics to efficiently control physical systems.
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W. Jallet, A. Bambade, E. Arlaud, S. El-Kazdadi, N. Mansard, and J. Carpentier, “PROXDDP: Proximal Constrained Trajectory Optimization,” Dec. 2023, working paper or preprint. [Online]. Available: https://inria.hal.science/hal-04332348
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B. Brogliato, “Modeling, analysis and control of robot–object nonsmooth underactuated lagrangian systems: A tutorial overview and perspectives,” Annual Reviews in Control , vol. 55, pp. 297–337, 2023. [Online]. Available: https://www.sciencedirect.com/science/article/pii/S1367578822001390
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