Discrete-time inverse optimal control for nonlinear systems trajectory tracking

@article{Ornelas2010DiscretetimeIO,
  title={Discrete-time inverse optimal control for nonlinear systems trajectory tracking},
  author={Fernando Ornelas and Edgar N. S{\'a}nchez and Alexander G. Loukianov},
  journal={49th IEEE Conference on Decision and Control (CDC)},
  year={2010},
  pages={4813-4818}
}
This paper presents an inverse optimal control approach for output tracking of discrete-time nonlinear systems, avoiding to solve the associated Hamilton-Jacobi-Bellman (HJB) equation, and minimizing a meaningful cost function. This stabilizing optimal controller is based on discrete-time passivity theory. The applicability of the proposed approach is illustrated via simulations by trajectory tracking control of a planar robot. 
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