December 2017
Intermediate to advanced
268 pages
3h 45m
English
book
Discrete-Time Inverse Optimal Control for Nonlinear Systems
by Edgar N. Sanchez, Fernando Ornelas-Tellez
Content preview from Discrete-Time Inverse Optimal Control for Nonlinear Systems
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This book proposes a novel discrete-time inverse optimal control scheme, which achieves stabilization and trajectory tracking for nonlinear systems and is inverse optimal in the sense that, a posteriori, it minimizes a cost functional. To avoid the Hamilton–Jacobi–Bellman equation solution, we proposed a discrete-time quadratic control Lyapunov function (CLF). The controller synthesis is based on two approaches: a) inverse optimal control based on passivity, in which the storage function is used as a CLF, and b) an inverse optimal control based on the selection of a CLF. Furthermore, a robust inverse optimal control is established in order to guarantee stability for nonlinear systems, which are affected by internal and/or external ...
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