• Corpus ID: 222090931

Robust Stochastic Optimal Control for Multivariable Dynamical Systems Using Expectation Maximization

  title={Robust Stochastic Optimal Control for Multivariable Dynamical Systems Using Expectation Maximization},
  author={Prakash Mallick and Zhiyong Chen},
Trajectory optimization is a fundamental stochastic optimal control problem. This paper deals with a trajectory optimization approach for unknown complicated systems subjected to stochastic sensor noise. The proposed methodology assimilates the benefits of conventional optimal control procedure with the advantages of maximum likelihood approaches to deliver a novel iterative trajectory optimization paradigm to be called as Stochastic Optimal Control - Expectation Maximization (SOC-EM). This… 
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