Discrete-Time Inverse Optimal Control for Nonlinear Systems

5  Inverse Optimal Control:

A CLF Approach, Part II

In this chapter, the inverse optimal control based on a CLF and the discrete-time speed-gradient algorithm is proposed. Section 5.1 uses the speed-gradient algorithm to compute the CLF parameter, ensuring stability and optimality. These results are extended for the speed-gradient inverse optimal control to achieve trajectory tracking in Section 5.2. Additionally, in Section 5.3 an inverse optimal trajectory tracking for block control form nonlinear systems is proposed. Simulation results illustrate the applicability of the proposed control schemes.

5.1  SPEED-GRADIENT ALGORITHM FOR THE INVERSE OPTIMAL CONTROL

In Section 4.1, a CLF candidate such as $V(x_k)=\frac{1}{2}{x}_k^{T}P{x}_k$ is proposed in order to solve ...