Nonlinear–nonquadratic optimal and inverse optimal control for discrete‐time stochastic dynamical systems

2021 ◽  
Author(s):  
Manuel Lanchares ◽  
Wassim M. Haddad
Keyword(s):  
Optimal Control ◽  
Dynamical Systems ◽  
Discrete Time ◽  
Inverse Optimal Control ◽  
Stochastic Dynamical Systems

scholarly journals Discrete-time inverse optimal control for a reaction wheel pendulum: a passivity-based control approach

2020 ◽  
Vol 19 (4) ◽  
pp. 123-132 ◽  
Author(s):  
Oscar Danilo Montoya ◽  
Walter Gil-González ◽  
Federico Martin Serra
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Point Of View ◽  
Control Analysis ◽  
Inverse Optimal Control ◽  
Reaction Wheel ◽  
Control Approach ◽  
Control Functions ◽  
Passivity Based Control ◽  
The Time Domain

In this paper it is presented the design of a controller for a reaction wheel pendulum using a discrete-time representation via optimal control from the point of view of passivity-based control analysis. The main advantage of the proposed approach is that it allows to guarantee asymptotic stability convergence using a quadratic candidate Lyapunovfunction. Numerical simulations show that the proposed inverse optimal control design permits to reach superiornumerical performance reported by continuous approaches such as Lyapunov control functions and interconnection,and damping assignment passivity-based controllers. An additional advantageof the proposed inverse optimal controlmethod is its easy implementation since it does not employ additional states. It is only required a basic discretizationof the time-domain dynamical model based on the backward representation. All the simulations are carried out inMATLAB/OCTAVE software using a codification on the script environment.

Robustness of discrete-time inverse optimal control for trajectory tracking

2016 ◽  
Author(s):  
Enrique A. Lastire-Olmedo ◽  
Edgar N. Sanchez ◽  
Alma Y. Alanis ◽  
Fernando Ornelas-Tellez
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Trajectory Tracking ◽  
Inverse Optimal Control
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