Dual-Regularized Riccati Recursions for Interior-Point Optimal Control

We derive closed-form extensions of Riccati's recursions (both sequential and parallel) for solving dual-regularized LQR problems. We show how these methods can be used to solve general constrained, non-convex, discrete-time optimal control problems via a regularized interior point method, while guaranteeing that each step is a descent direction of an Augmented Barrier-Lagrangian merit function. We provide MIT-licensed implementations of our methods in C++ and JAX.