Inverse Optimal Control with Set-Theoretic Barrier Lyapunov Function for Handling State Constraints

Author

Meryem Deniz
P. L. Devi
S. N. Balakrishnan, Missouri University of Science and TechnologyFollow

Abstract

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.

Recommended Citation

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

Meeting Name

American Control Conference, ACC 2020 (2020: Jul. 1-3 Denver, CO)

Department(s)

Mechanical and Aerospace Engineering

Comments

National Aeronautics and Space Administration, Grant NNX15AM51A

International Standard Book Number (ISBN)

978-153868266-1

International Standard Serial Number (ISSN)

0743-1619

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2020 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

03 Jul 2020