Quu becomes infinite

[hect1995]

Whe I apply the iLQR algorithm in order to smooth a trajectory I have (I try to reduce the constrols while not diverging too much from the trajectory to follow) if the trajectory I am considering has many steps the Quu results in infinite and the algorithm breaks. How could it be solved?

[nik31096]

@hect1995 I have faced with the same problem. Was you able to solve this issue?