论文标题
在线逆最佳控制，用于有限和无限视野的控制受限的离散时间系统
Online Inverse Optimal Control for Control-Constrained Discrete-Time Systems on Finite and Infinite Horizons
论文作者
论文摘要
在本文中，我们考虑了来自具有主动控制约束的状态和控制轨迹的离散时间最佳控制问题的计算目标函数的问题。我们提出了一种新型的反向最佳控制方法，该方法具有计算有效的在线形式，其中对给定状态和控制轨迹的成对的状态和控制依次处理，而不会在批处理中存储或处理。我们建立条件，以确保由我们提出的方法从具有主动控制约束的轨迹中提出的方法计算出的客观功能参数的唯一性。我们说明了我们在模拟中提出的方法。
In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active control constraints. We propose a novel method of inverse optimal control that has a computationally efficient online form in which pairs of states and controls from given state and control trajectories are processed sequentially without being stored or processed in batches. We establish conditions guaranteeing the uniqueness of the objective-function parameters computed by our proposed method from trajectories with active control constraints. We illustrate our proposed method in simulation.
