Inverse optimal control for discrete-time nonlinear systems via passivation

被引：9

作者：

Ornelas-Tellez, Fernando ^{[1
]}

Sanchez, Edgar N. ^{[2
]}

Loukianov, Alexander G. ^{[2
]}

机构：

[1] Univ Michoacana, Fac Ingn Elect, Div Estudios Posgrad, Morelia 58030, Michoacan, Mexico

[2] Ctr Invest & Estudios Avanzados IPN CINVESTAV, Unidad Guadalajara, Zapopan 45019, Jalisco, Mexico

来源：

OPTIMAL CONTROL APPLICATIONS & METHODS | 2014年 / 35卷 / 01期

关键词：

inverse optimal control; discrete-time nonlinear systems; control Lyapunov function; passivity; trajectory tracking; FEEDBACK EQUIVALENCE; GLOBAL STABILIZATION; PASSIVITY; DESIGN; DRIVEN; NOISE;

D O I：

10.1002/oca.2062

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an inverse optimal control approach for stabilization and trajectory tracking of discrete-time nonlinear systems, avoiding to solve the associated Hamilton-Jacobi-Bellman equation, and minimizing a meaningful cost functional. The proposed controller is based on a discrete-time control Lyapunov function and passivity theory; its applicability is illustrated via simulations for an unstable nonlinear system and a planar robot. Copyright (c) 2013 John Wiley & Sons, Ltd.

引用

页码：110 / 126

页数：17

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