Inverse Optimal Control with Set-Theoretic Barrier Lyapunov Function for Handling State Constraints
Although rigorous framework exists for handling state variable inequality constraints under optimal control formulations, it is quite involved and difficult to incorporate for online use. In this study, an alternative approach is proposed by combining a state-dependent Riccati equation (SDRE) based inverse optimal control formulation with a set-theoretic barrier Lyapunov function (STBLF). Necessary derivations are presented. Both regulator and tracking type problems are considered. The performance of the proposed method is evaluated using numerical examples.
M. Deniz et al., "Inverse Optimal Control with Set-Theoretic Barrier Lyapunov Function for Handling State Constraints," Proceedings of the American Control Conference, pp. 981-986, Institute of Electrical and Electronics Engineers (IEEE), Jul 2020.
The definitive version is available at https://doi.org/10.23919/ACC45564.2020.9147707
American Control Conference, ACC 2020 (2020: Jul. 1-3 Denver, CO)
Mechanical and Aerospace Engineering
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03 Jul 2020