Closed loop trajectory optimization based on reverse time tree

Chyon Hae Kim*, Shigeki Sugano

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


This paper addresses the general methods for creating the approximately optimal closed loop stabilization controllers that depend on given rigid body systems. The optimal stabilization controllers calculate the optimal force (torque) inputs that depend on the current states of the systems. In this paper, a creation method for approximately optimal controllers named closed loop optimizer based on reverse time tree (CLO-RTT) is proposed. In the open loop optimization phase, this method creates approximately optimal open loop solutions using rapid semi-optimal motion planning (RASMO). In the closed loop optimization phase, this method selects a solution from the RTT according to the measured current state of a system. The proposed method was validated in the time optimal stabilization problem of a double inverted pendulum model. The proposed method successfully stabilized the model quickly. When the resolution of RASMO was higher, the motion time was shorter.

Original languageEnglish
Pages (from-to)1404-1412
Number of pages9
JournalInternational Journal of Control, Automation and Systems
Issue number6
Publication statusPublished - 2016 Dec 1


  • Dynamics
  • inverted pendulum
  • online optimization
  • reverse-time tree
  • trajectory planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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