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Speed-gradient inverse optimal control for discrete-time nonlinear systems

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4 Author(s)
Ornelas-Tellez, Fernando ; Univ. Autonoma del Carmen, Campeche, Mexico ; Sanchez, Edgar N. ; Loukianov, A.G. ; Navarro-Lopez, E.M.

This paper presents a speed-gradient-based inverse optimal control approach for the asymptotic stabilization of discrete-time nonlinear systems. With the solution presented, we avoid to solve the associated Hamilton-Jacobi-Bellman equation, and a meaningful cost function is minimized. The proposed stabilizing optimal controller uses the speed-gradient algorithm and is based on the proposal of what is called a discrete-time control Lyapunov function. This combined approach is referred to as the speed-gradient inverse optimal control. An example is used to illustrate the methodology. Several simulations are provided.

Published in:

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Date of Conference:

12-15 Dec. 2011

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