Finite-horizon inverse optimal control for discrete-time nonlinear systems. (January 2018)

• Record Type: Journal Article
• Authors: Molloy, Timothy L.; Ford, Jason J.; Perez, Tristan
• Is Part Of: Automatica. Volume 87(2018)
• Page Start: 442
• Page End: 446
• Publication Date: 2018-01
• Subjects: Optimal control -- Discrete-time systems -- Nonlinear systems; Automatic control -- Periodicals; Automation -- Periodicals; 629.805
• DOI: 10.1016/j.automatica.2017.09.023
• Languages: English
• ISSNs: 0005-1098

Abstract

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.