Recovery-Matrix Inverse Optimal Control for Deterministic Feedforward-Feedback Controllers

被引：0

作者：

Parsapour, Mahsa ^{[1
]}

Kulic, Dana ^{[2
,3
]}

机构：

[1] Univ Waterloo, Dept Elect & Comp Engn, Waterloo, ON, Canada

[2] Monash Univ, Fac Engn, Melbourne, Vic, Australia

[3] Univ Waterloo, Waterloo, ON, Canada

来源：

2021 AMERICAN CONTROL CONFERENCE (ACC) | 2021年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an optimisation approach to solve the inverse optimal control problem when the controller is in the feedforward-feedback form. The goal of inverse optimal control is to recover the cost function from the observed trajectory. We consider the problem of direct and inverse optimal control for both linear and nonlinear systems, assuming a quadratic cost function structure. We adapt the recovery matrix inverse optimal control approach, originally developed for recovering the cost matrices from trajectories observed under feedforward control, and apply it to trajectories observed from systems controlled in the feedback form plus the additional feedforward term for nonlinear systems, and the feedback form for linear systems. Accurate cost function recovery is demonstrated via simulation examples with both linear and nonlinear systems.

引用

页码：4765 / 4770

页数：6

共 17 条

[1]

Aghasadeghi N, 2014, IEEE INT CONF ROBOT, P6018, DOI 10.1109/ICRA.2014.6907746

[2]

[Anonymous], 2011, DYNAMIC PROGRAMMING

[3] Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach [J].

Berret, Bastien ;

Chiovetto, Enrico ;

Nori, Francesco ;

Pozzo, Thierry .

PLOS COMPUTATIONAL BIOLOGY, 2011, 7 (10)

[4]

Boyd S, 1994, Studies in Applied Mathematics

[5] Inverse KKT - Learning Cost Functions of Manipulation Tasks from Demonstrations [J].

Englert, Peter ;

Toussaint, Marc .

ROBOTICS RESEARCH, VOL 2, 2018, 3 :57-72

[6]

Jacobson DH., 1970, Differential dynamic programming

[7]

Jin W., 2018, ARXIV180307696

[8] Inverse Optimal Control for Multiphase Cost Functions [J].

Jin, Wanxin ;

Kulic, Dana ;

Lin, Jonathan Feng-Shun ;

Mou, Shaoshuai ;

Hirche, Sandra .

IEEE TRANSACTIONS ON ROBOTICS, 2019, 35 (06) :1387-1398

[9]

Johnson M, 2013, IEEE DECIS CONTR P, P2906, DOI 10.1109/CDC.2013.6760325

[10]

Lin JFS, 2016, IEEE-RAS INT C HUMAN, P1107, DOI 10.1109/HUMANOIDS.2016.7803409

← 1 2 →