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A Convex Optimization Approach to Inverse Optimal Control
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. Harbin Inst Technol, Harbin 150001, Heilongjiang, Peoples R China..ORCID iD: 0000-0001-7287-1495
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0002-3905-0633
Harbin Inst Technol, Harbin 150001, Heilongjiang, Peoples R China..
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2018 (English)In: 2018 37Th Chinese Control Conference, CCC (CCC) / [ed] Chen, X Zhao, QC, IEEE, 2018, Vol. 2018, p. 257-262Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, the problem of inverse optimal control (IOC) is investigated, where the quadratic cost function of a dynamic process is required to be recovered based on the observation of optimal control sequences. In order to guarantee the feasibility of the problem, the IOC is reformulated as an infinite-dimensional convex optimization problem, which is then solved in the primal-dual framework. In addition, the feasibility of the original IOC could be determined from the optimal value of reformulated problem, which also gives out an approximate solution when the original problem is not feasible. In addition, several simplification methods are proposed to facilitate the computation, by which the problem is reduced to a boundary value problem of ordinary differential equations. Finally, numerical simulations are used to demonstrate the effectiveness and feasibility of the proposed methods.

Place, publisher, year, edition, pages
IEEE, 2018. Vol. 2018, p. 257-262
Series
Chinese Control Conference, ISSN 2161-2927
Keywords [en]
Inverse optimal control, Convex optimization, Primal-dual method
National Category
Computational Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-254152DOI: 10.23919/ChiCC.2018.8482872ISI: 000468622100046Scopus ID: 2-s2.0-85056081591ISBN: 978-9-8815-6395-8 (print)OAI: oai:DiVA.org:kth-254152DiVA, id: diva2:1327904
Conference
37th Chinese Control Conference, CCC 2018; Wuhan; China; 25 July 2018 through 27 July 2018
Note

QC 20190620

Available from: 2019-06-20 Created: 2019-06-20 Last updated: 2019-06-20Bibliographically approved

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Li, YibeiZhang, HanHu, Xiaoming

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