3  Inverse Optimal Control:

A Passivity Approach

This chapter deals with inverse optimal control via passivity for both stabilization and trajectory tracking. In Section 3.1, a stabilizing inverse optimal control is synthesized. In Section 3.2, trajectory tracking is presented by modifying the proposed CLF such that it has a global minimum along the desired trajectory. Examples illustrate the proposed control scheme applicability. Finally, Section 3.3 presents an inverse optimal control scheme for nonlinear positive systems.

3.1  INVERSE OPTIMAL CONTROL VIA PASSIVITY

In this section, we proceed to develop an inverse optimal control law for system (2.27), which can be globally asymptotically stabilized by the output feedback uk = −yk. It is worth ...

Get Discrete-Time Inverse Optimal Control for Nonlinear Systems now with the O’Reilly learning platform.

O’Reilly members experience live online training, plus books, videos, and digital content from nearly 200 publishers.