Abstract
This paper presents an optimisation approach to solve the inverse optimal control problem when the controller is in the feedforward-feedback form. The goal of inverse optimal control is to recover the cost function from the observed trajectory. We consider the problem of direct and inverse optimal control for both linear and nonlinear systems, assuming a quadratic cost function structure. We adapt the recovery matrix inverse optimal control approach, originally developed for recovering the cost matrices from trajectories observed under feedforward control, and apply it to trajectories observed from systems controlled in the feedback form plus the additional feedforward term for nonlinear systems, and the feedback form for linear systems. Accurate cost function recovery is demonstrated via simulation examples with both linear and nonlinear systems.
| Original language | English |
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| Title of host publication | 2021 American Control Conference, ACC 2021 |
| Editors | Kristi A. Morgansen |
| Place of Publication | Piscataway NJ USA |
| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Pages | 4765-4770 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781665441971, 9781665441988 |
| ISBN (Print) | 9781728197043 |
| DOIs | |
| Publication status | Published - 2021 |
| Externally published | Yes |
| Event | American Control Conference 2021 - Online, New Orleans, United States of America Duration: 25 May 2021 → 28 May 2021 https://ieeexplore.ieee.org/xpl/conhome/9482409/proceeding (Proceedings) |
Publication series
| Name | Proceedings of the American Control Conference |
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| Publisher | IEEE, Institute of Electrical and Electronics Engineers |
| Volume | 2021-May |
| ISSN (Print) | 0743-1619 |
| ISSN (Electronic) | 2378-5861 |
Conference
| Conference | American Control Conference 2021 |
|---|---|
| Abbreviated title | ACC 2021 |
| Country/Territory | United States of America |
| City | New Orleans |
| Period | 25/05/21 → 28/05/21 |
| Internet address |