Discrete-time inverse optimal control with partial-state information: A soft-optimality approach with constrained state estimation
Molloy, Timothy L., Tsai, Dorian, Ford, Jason J., & Perez, Tristan (2016) Discrete-time inverse optimal control with partial-state information: A soft-optimality approach with constrained state estimation. In 55th IEEE Conference on Decision and Control (CDC 2016), 12-14 December 2016, Las Vegas, NV. (In Press)
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In this paper, we consider the problem of estimating the parameters of an optimal control objective function based on measurements of the closed loop system. In contrast to previous work on inverse optimal control, we consider measurements that are noise-corrupted and contain only partial-state information. We propose an inverse optimal control method based on a new soft-optimality constrained methodology of state estimation. We establish a sufficient condition for recovery of the unknown objective function parameters given complete-state information, and develop results characterising the performance of our method for linear systems. We illustrate our proposed soft-optimality approach through simulations of a nonlinear and fully-actuated mechanical system.
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|Item Type:||Conference Paper|
|Keywords:||Inverse optimal control, optimal control, least squares state estimation, soft optimality|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2016 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.|
|Deposited On:||26 Sep 2016 23:09|
|Last Modified:||28 Sep 2016 00:09|
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