A New Inverse Optimal Control Method for Discrete-time Systems

Almobaied M., Eksin İ., Güzelkaya M.

12th International Conference on Informatics in Control Automation and Robotics (ICINCO), Alsace, Fransa, 21 - 23 Temmuz 2015, ss.275-280 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Alsace
  • Basıldığı Ülke: Fransa
  • Sayfa Sayıları: ss.275-280
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

This paper presents a new approach based on extended kalman filter (EKF) to construct a control lyapunov function (CLF). This function will be used in establishing the control law of inverse optimal control for discrete-time nonlinear systems. The main aim of the inverse optimal control is to avoid the solution of the difficult Hamilton-Jacobi-Bellman (HJB) equation which is resulted from the traditional solution of nonlinear optimal control problem. The relevance of the proposed scheme is illustrated through MATLAB simulation. The results show the effectiveness of the proposed method.