Riccati Gains Stabilization

When computing a trajectory with iLQR or Differential Dynamic Programming (DDP), the trajectory is altered with Riccati gain matrices. During the application these Riccati gains can be used to stabilize the trajectory as discussed in [1].

References

• [1] S. Kleff, A. Meduri, R. Budhiraja, N. Mansard, and L. Righetti, “High- frequency nonlinear model predictive control of a manipulator,” in 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2021, pp. 7330–7336.