Trajectory Stabilization

When transfering a precomputed trajectory from simulation to reality (or even another simulator), the trajectory needs to be stabilized, as the mathematical system dynamics are always only an approximation of the real dynamics. Because of this, during the execution small errors will sum up and the system will eventually deviate from the nominal trajectory.

• Time Varying Linear Quadrativ Regulator (TVLQR)
• Riccati Gains Stabilization