Control

Nominal Trajectory

A nominal trajectory is a reference state and control sequence around which a robot's motion is planned and stabilized. Trajectory optimizers such as iLQR or direct collocation produce a nominal plan, and feedback controllers, for example time-varying LQR, correct deviations from it during execution. The term contrasts the idealized planned motion with the perturbed trajectory the robot actually realizes.

Why it matters for physical AI

Real robots never track plans exactly; separating a nominal plan from feedback stabilization is the standard structure for reliable execution of dynamic locomotion and manipulation.