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Citation bot (talk | contribs) Alter: url. URLs might have been internationalized/anonymized. Add: isbn, s2cid, author pars. 1-1. Removed parameters. Some additions/deletions were actually parameter name changes. Correct ISBN10 to ISBN13. | You can use this bot yourself. Report bugs here. | Suggested by AManWithNoPlan | All pages linked from cached copy of User:AManWithNoPlan/sandbox3 | via #UCB_webform_linked 1776/3258 |
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| first = J. |author2=G. Zeglin |author3=C.G. Atkeson
| title = Minimax differential dynamic programming: Application to a biped walking robot
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| date = 2003
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| date = 2011
| url = http://icnc.huji.ac.il/phd/theses/files/YuvalTassa.pdf
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}}</ref> Regularization in the DDP context means ensuring that the <math>Q_{\mathbf{u}\mathbf{u}}</math> matrix in {{EquationNote|4|Eq. 4}} is [[positive definite matrix|positive definite]]. Line-search in DDP amounts to scaling the open-loop control modification <math>\mathbf{k}</math> by some <math>0<\alpha<1</math>.
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