Journal article

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

Timothy L Molloy, Jason J Ford, Tristan Perez

AUTOMATICA | PERGAMON-ELSEVIER SCIENCE LTD | Published : 2018

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.

Grants

Awarded by Australian Research Council


Funding Acknowledgements

This work was supported by an Australian Research Council Discovery Grant (DP14010089). The material in this paper was partially presented at the 55th IEEE Conference on Decision and Control, December 12-14, 2016, Las Vegas, NV, USA. This paper was recommended for publication in revised form by Associate Editor A. Pedro Aguiar under the direction of Editor Andre L. Tits.