A convex bound on the Taylor remainder is used as an optimization cost to reduce nonlinear errors experienced by linear covariance controllers in nonlinear systems.
Trajectory Optimization Under Uncertainty with Nonlinear Programming and Forward–Backward Shooting,
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Convex Bound of Nonlinear Dynamical Errors for Covariance Steering
A convex bound on the Taylor remainder is used as an optimization cost to reduce nonlinear errors experienced by linear covariance controllers in nonlinear systems.