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
收藏
页码：110 / 126
页数：17
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