Finite-horizon inverse optimal control for discrete-time nonlinear systems

• Autores: Timothy L. Molloy, J.J. Ford, Tristan Pérez
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 87, 2018, págs. 442-446
• Idioma: inglés
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• Resumen

  • Abstract In this note, we consider the problem of computing the parameters (or weights) of an optimal control objective function given optimal closed-loop state and control trajectories. We establish a method of inverse optimal control that exploits the discrete-time minimum principle. Under a testable matrix rank condition, our proposed method is guaranteed to recover the unknown objective-function parameters of finite-horizon discrete-time nonlinear optimal control problems.