GPU-Parallel Linearization Error Bounds for Real-Time Robust Optimal Control of Nonlinear and Neural Network Dynamics

This paper studies real-time robust optimal control for uncertain nonlinear systems, where linear time-varying (LTV) approximations make planning tractable but require sound linearization error bounds (LEBs) to guarantee robust constrain…

This paper studies real-time robust optimal control for uncertain nonlinear systems, where linear time-varying (LTV) approximations make planning tractable but require sound linearization error bounds (LEBs) to guarantee robust constraint satisfaction. We develop tight,…