DocumentCode
2564284
Title
Discrete-time inverse optimal control for nonlinear systems trajectory tracking
Author
Ornelas, Fernando ; Sanchez, Edgar N. ; Loukianov, Alexander G.
Author_Institution
CINVESTAV, Jalisco, Mexico
fYear
2010
fDate
15-17 Dec. 2010
Firstpage
4813
Lastpage
4818
Abstract
This paper presents an inverse optimal control approach for output tracking of discrete-time nonlinear systems, avoiding to solve the associated Hamilton-Jacobi-Bellman (HJB) equation, and minimizing a meaningful cost function. This stabilizing optimal controller is based on discrete-time passivity theory. The applicability of the proposed approach is illustrated via simulations by trajectory tracking control of a planar robot.
Keywords
discrete time systems; nonlinear control systems; optimal control; position control; telerobotics; discrete-time passivity theory; discrete-time systems; inverse optimal control; nonlinear control systems; planar robot; trajectory tracking control; Lyapunov method; Mathematical model; Optimal control; Output feedback; Robots; Trajectory; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location
Atlanta, GA
ISSN
0743-1546
Print_ISBN
978-1-4244-7745-6
Type
conf
DOI
10.1109/CDC.2010.5716974
Filename
5716974
Link To Document