Inverse optimal control for discrete-time nonlinear systems via passivation

Fernando Ornelas-Tellez; Edgar N. Sanchez; Alexander G. Loukianov

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Inverse optimal control for discrete-time nonlinear systems via passivation

机译：钝化离散时间非线性系统的逆最优控制

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This paper presents an inverse optimal control approach for stabilization and trajectory tracking of discretetime nonlinear systems, avoiding to solve the associated Hamilton-Jacobi-Bellman equation, and minimizing a meaningful cost functional. The proposed controller is based on a discrete-time control Lyapunov function and passivity theory; its applicability is illustrated via simulations for an unstable nonlinear system and a planar robot.

机译：本文提出了一种用于离散时间非线性系统的稳定和轨迹跟踪的逆最优控制方法，该方法避免了求解相关的Hamilton-Jacobi-Bellman方程，并且使有意义的成本函数最小化。所提出的控制器基于离散时间Lyapunov函数和无源性理论。通过对不稳定的非线性系统和平面机器人的仿真说明了其适用性。

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《Optimal Control Applications and Methods》 |2014年第1期|共17页
作者
Fernando Ornelas-Tellez; Edgar N. Sanchez; Alexander G. Loukianov;
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正文语种 eng
中图分类应用数学;
关键词
Inverse optimal control; Discrete-time nonlinear systems; Control Lyapunov function; Passivity; Trajectory tracking;

机译：逆最优控制;离散非线性系统;控制李雅普诺夫函数;无源性;轨迹跟踪;

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1. Inverse optimal control for discrete-time nonlinear systems via passivation [J] . Fernando Ornelas-Tellez, Edgar N. Sanchez, Alexander G. Loukianov Optimal Control Applications and Methods . 2014,第1期

机译：钝化离散时间非线性系统的逆最优控制
2. Finite-horizon inverse optimal control for discrete-time nonlinear systems [J] . Molloy Timothy L., Ford Jason J., Perez Tristan Automatica . 2018,第期

机译：离散时间非线性系统的有限地平线逆最佳控制
3. Inverse optimal controller based on extended Kalman filter for discrete-time nonlinear systems [J] . Almobaied Moayed, Eksin Ibrahim, Guzelkaya Mujde Optimal Control Applications and Methods . 2018,第1期

机译：基于扩展卡尔曼滤波器的离散时间非线性系统的逆最佳控制器
4. Discrete-time nonlinear systems inverse optimal control: A control Lyapunov function approach [C] . Ornelas Fernando, Sanchez Edgar N., Loukianov Alexander G. 2011 IEEE International Conference on Control Applications . 2011

机译：离散非线性系统逆最优控制：一种控制李雅普诺夫函数方法
5. Inverse optimal control for dynamic neural networks (DNN) with applications to control design for a class of nonlinear systems. [D] . Liu, Ziqian. 2005

机译：动态神经网络（DNN）的逆最优控制及其在一类非线性系统的控制设计中的应用。
6. Fuzzy ... formula ... output-feedback control for the discrete-time system with channel fadings sector nonlinearities and randomly occurring interval delays and nonlinearities [O] . Xiaozheng Fan, Yan Wang, Manfeng Hu -1

机译：具有信道衰落扇区非线性以及随机出现的间隔延迟和非线性的离散时间系统的模糊...公式输出反馈控制
7. Neural-Network-Based Near-Optimal Control for a Class of Discrete-Time Affine Nonlinear Systems With Control Constraints [O] . Huaguang Zhang, Senior Member, Yanhong Luo, 2014

机译：基于神经网络的一类具有控制约束的离散时间仿射非线性系统的近似最优控制

Inverse optimal control for discrete-time nonlinear systems via passivation

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