Extended LQR: Locally-Optimal Feedback Control for Systems with Non-Linear Dynamics and Non-Quadratic Cost

Jur van den Berg. Extended LQR: Locally-Optimal Feedback Control for Systems with Non-Linear Dynamics and Non-Quadratic Cost. In Masayuki Inaba, Peter Corke, editors, Robotics Research - The 16th International Symposium ISRR, 16-19 December 2013, Singapore. Volume 114 of Springer Tracts in Advanced Robotics, pages 39-56, Springer, 2013. [doi]

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