Optimal Control for Linear Dynamical Systems and Quadratic Cost

(LQR) Pieter Abbeel UC Berkeley EECS

Bellmans curse of dimensionality

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n-dimensional state space Number of states grows exponentially in n (assuming some fixed number of discretization levels per coordinate) In practice
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Discretization is considered only computationally feasible up to 5 or 6 dimensional state spaces even when using
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Variable resolution discretization Highly optimized implementations

This Lecture
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Optimal Control for Linear Dynamical Systems and Quadratic Cost (aka LQ setting, or LQR setting)
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Very special case: can solve continuous state-space optimal control problem exactly and only requires performing linear algebra operations

Great reference: [optional] Anderson and Moore, Linear Quadratic Methods --- standard reference for LQ setting

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Note: strong similarity with Kalman filtering, which is able to compute the Bayes filter updates exactly even though in general there are no closed form solutions and numerical solutions scale poorly with dimensionality.

Linear Quadratic Regulator (LQR)

While LQ assumptions might (at first) seem very restrictive, we will see the method can be made applicable for non-linear systems, e.g., helicopter.

Value Iteration
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Back-up step for i+1 steps to go:

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LQR:

LQR value iteration: J1

LQR value iteration: J1 (ctd)

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In summary:

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J1(x) is quadratic, just like J0(x). "Value iteration update is the same for all times and can be done in closed form for this particular continuous state-space system and cost!

Value iteration solution to LQR

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Fact: Guaranteed to converge to the infinite horizon optimal policy iff the

LQR assumptions revisited

= for keeping a linear system at the all-zeros state while preferring to keep the control input small.
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Extensions which make it more generally applicable:

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Affine systems System with stochasticity Regulation around non-zero fixed point for non-linear systems Penalization for change in control inputs Linear time varying (LTV) systems Trajectory following for non-linear systems

LQR Ext0: Affine systems

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Optimal control policy remains linear, optimal cost-to-go function remains quadratic Two avenues to do derivation:
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1. Re-derive the update, which is very similar to what we did for standard setting 2. Re-define the state as: zt = [xt; 1], then we have:

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LQR Ext1: stochastic system

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Exercise: work through similar derivation as we did for the deterministic case. Result:
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Same optimal control policy Cost-to-go function is almost identical: has one additional term which depends on the variance in the noise (and which cannot be influenced by the choice of control inputs)

LQR Ext2: non-linear systems

Nonlinear system: We can keep the system at the state x* iff Linearizing the dynamics around x* gives:

Equivalently:

Let zt = xt x* , let vt = ut u*, then:

[=standard LQR]

LQR Ext3: penalize for change in control inputs

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Standard LQR:

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When run in this format on real systems: often high frequency control inputs get generated. Typically highly undesirable and results in poor control performance. Why?

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Solution: frequency shaping of the cost function. Can be done by augmenting the system with a filter and then the filter output can be used in the quadratic cost function. (See, e.g., Anderson and Moore.) Simple special case which works well in practice: penalize for change in control inputs. ---- How ??

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LQR Ext3: penalize for change in control inputs

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Standard LQR:

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How to incorporate the change in controls into the cost/ reward function?
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Soln. method A: explicitly incorporate into the state by augmenting the state with the past control input vector, and the difference between the last two control input vectors. Soln. method B: change of variables to fit into the standard LQR setting.

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LQR Ext3: penalize for change in control inputs

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Standard LQR:

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Introducing change in controls !u:

t+"

[If R=0, then equivalent to standard LQR.]

LQR Ext4: Linear Time Varying (LTV) Systems

LQR Ext4: Linear Time Varying (LTV) Systems

LQR Ext5: Trajectory following for non-linear systems

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A state sequence x#*, x"*, , xH* is a feasible target trajectory iff

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Problem statement:

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Transform into linear time varying case (LTV):

At

Bt

LQR Ext5: Trajectory following for non-linear systems

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Transformed into linear time varying case (LTV):

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Now we can run the standard LQR back-up iterations. Resulting policy at i time-steps from the end:

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The target trajectory need not be feasible to apply this technique, however, if it is infeasible then the linearizations are not around the (state,input) pairs that will be visited

Most general cases

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Methods which attempt to solve the generic optimal control problem

by iteratively approximating it and leveraging the fact that the linear quadratic formulation is easy to solve.

Iteratively apply LQR

Iterative LQR: in standard LTV format

Iteratively apply LQR: convergence

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Need not converge as formulated!

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Reason: the optimal policy for the LQ approximation might end up not staying close to the sequence of points around which the LQ approximation was computed by Taylor expansion. Solution: in each iteration, adjust the cost function so this is the case, i.e., use the cost function Assuming g is bounded, for $ close enough to one, the 2nd term will dominate and ensure the linearizations are good approximations around the solution trajectory found by LQR.

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Iteratively apply LQR: practicalities

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f is non-linear, hence this is a non-convex optimization problem. Can get stuck in local optima! Good initialization matters. g could be non-convex: Then the LQ approximation fails to have positive-definite cost matrices.
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Practical fix: if Qt or Rt are not positive definite " increase penalty for deviating from current state and input (x(i)t, u(i)t) until resulting Qt and Rt are positive definite.

Iterative LQR for trajectory following

Differential Dynamic Programming (DDP)

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Often loosely used to refer to iterative LQR procedure. More precisely: Directly perform 2nd order Taylor expansion of the Bellman back-up equation [rather than linearizing the dynamics and 2nd order approximating the cost] Turns out this retains a term in the back-up equation which is discarded in the iterative LQR approach [Its a quadratic term in the dynamics model though, so even if cost is convex, resulting LQ problem could be non-convex ]

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[Reference: Jacobson and Mayne, Differential dynamic programming, 1970]

Differential dynamic programming

To keep entire expression 2nd order: Use Taylor expansions of f and then remove all resulting terms which are higher than 2nd order. Turns out this keeps 1 additional term compared to iterative LQR

Can we do even better?

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Yes! At convergence of iLQR and DDP, we end up with linearizations around the (state,input) trajectory the algorithm converged to In practice: the system could not be on this trajectory due to perturbations / initial state being off / dynamics model being off /

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Solution: at time t when asked to generate control input ut, we could re-solve the control problem using iLQR or DDP over the time steps t through H Replanning entire trajectory is often impractical " in practice: replan over horizon h. = receding horizon control
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This requires providing a cost to go J(t+h) which accounts for all future costs. This could be taken from the offline iLQR or DDP run

Multiplicative noise
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In many systems of interest, there is noise entering the system which is multiplicative in the control inputs, i.e.:
x!" # = Ax! + (B + B$ w! )u!

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Exercise: LQR derivation for this setting

[optional related reading:Todorov and Jordan, nips 2003]

Cart-pole

H(q) q + C(q, q ) + G(q) = B(q)u

[See also Section 3.3 in Tedrake notes.]

Cart-pole --- LQR

Cart-pole --- LQR

Results of running LQR for the linear time-invariant system obtained from linearizing around [0;0;0;0]. The cross-marks correspond to initial states. Green means the controller succeeded at stabilizing from that initial state, red means not.

Q = diag([1;1;1;1]); R = 0; [x, theta, xdot, thetadot]

Cart-pole --- LQR

Results of running LQR for the linear time-invariant system obtained from linearizing around [0;0;0;0]. The cross-marks correspond to initial states. Green means the controller succeeded at stabilizing from that initial state, red means not.

Q = diag([1;1;1;1]); R = 1; [x, theta, xdot, thetadot]

[See, e.g., Slotine and Li, or Boyd lecture notes (pointers available on course website) if you want to find out more.]

Lyapunovs linearization method

Once we designed a controller, we obtain an autonomous system, xt+1 = f(xt) Defn. x* is an asymptotically stable equilibrium point for system f if there exists an % > 0 such that for all initial states x s.t. || x x* || ! % we have that limt! " xt = x* We will not cover any details, but here is the basic result: Assume x* is an equilibrium point for f(x), i.e., x* = f(x*). If x* is an asymptotically stable equilibrium point for the linearized system, then it is asymptotically stable for the non-linear system. If x* is unstable for the linear system, its unstable for the non-linear system. If x* is marginally stable for the linear system, no conclusion can be drawn. = additional justification for linear control design techniques

Controllability
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A system is t-time-steps controllable if from any start state, x0, we can reach any target state, x*, at time t. For a linear time-invariant systems, we have:

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hence the system is t-time-steps controllable if and only if the above linear system of equations in u0, , ut-1 has a solution for all choices of x0 and xt. This is the case if and only if

with n the dimension of the statespace.

The Cayley-Hamilton theorem from linear algebra says that for all A, for all t " n :

Hence we obtain that the system (A,B) is controllable for all times t>=n, if and only if

Feedback linearization

Feedback linearization

Feedback linearization

Feedback linearization
x = f (x) + g(x)u (6.52)

[A function is called a di!eomorphism if it is smooth and its inverse is smooth.]

[From: Slotine and Li]

Feedback linearization

Feedback linearization

Feedback linearization

Feedback linearization

"!This condition can be checked by applying the chain rule and examining the rank of certain matrices! "! The proof is actually semi-constructive: it constructs a set of partial differential equations to which the state transformation is the solution.

Feedback linearization
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Further readings:
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Slotine and Li, Chapter 6 example 6.10 shows stateinput linearization in action Isidori, Nonlinear control systems, 1989.

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Car

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For your reference: Standard (kinematic) car models: (From Lavalle, Planning Algorithms, 2006, Chapter 13)
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Tricycle:!! Simple Car:! Reeds-Shepp Car:! Dubins Car:!

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Cart-pole

H(q) q + C(q, q ) + G(q) = B(q)u

[See also Section 3.3 in Tedrake notes.]

Acrobot

H(q) q + C(q, q ) + G(q) = B(q)u

[See also Section 3.2 in Tedrake notes.]

Lagrangian dynamics
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Newton: F = ma
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Quite generally applicable Its application can become a bit cumbersome in multibody systems with constraints/internal forces

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Lagrangian dynamics method eliminates the internal forces from the outset and expresses dynamics w.r.t. the degrees of freedom of the system

Lagrangian dynamics
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ri: generalized coordinates T: total kinetic energy U: total potential energy Qi : generalized forces Lagrangian L = T U

" Lagrangian dynamic equations:

[Nice reference: Goldstein, Poole and Satko, Classical Mechanics]

Lagrangian dynamics: point mass example

Lagrangian dynamics: simple double pendulum

q! = !! , q" = !" , s# = sin !# , c# = cos !# , s!$ " = sin(!! + !" )

[From: Tedrake Appendix A]