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Inverse optimal control for discrete‐time nonlinear systems via passivation
Author(s) -
OrnelasTellez Fernando,
Sanchez Edgar N.,
Loukianov Alexander G.
Publication year - 2013
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.2062
Subject(s) - control theory (sociology) , nonlinear system , passivity , inverse , discrete time and continuous time , lyapunov function , controller (irrigation) , trajectory , control lyapunov function , optimal control , mathematics , nonlinear control , computer science , lyapunov redesign , mathematical optimization , control (management) , engineering , physics , agronomy , statistics , geometry , quantum mechanics , artificial intelligence , astronomy , electrical engineering , biology
SUMMARY 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 © 2013 John Wiley & Sons, Ltd.