This chapter deals with inverse optimal control via passivity for both stabilization and trajectory tracking. In Section 3.1, a stabilizing inverse optimal control is synthesized. In Section 3.2, trajectory tracking is presented by modifying the proposed CLF such that it has a global minimum along the desired trajectory. Examples illustrate the proposed control scheme applicability. Finally, Section 3.3 presents an inverse optimal control scheme for nonlinear positive systems.
3.1 INVERSE OPTIMAL CONTROL VIA PASSIVITY
In this section, we proceed to develop an inverse optimal control law for system (2.27), which can be globally asymptotically stabilized by the output feedback uk = −yk. It is worth ...
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