Injectivity of the inverse optimal control problem for control-affine systems

Frederic Jean; Sofya Maslovskaya

doi:10.1109/CDC40024.2019.9028877

Injectivity of the inverse optimal control problem for control-affine systems

Frederic Jean
, Sofya Maslovskaya

INRIA Institut National de Recherche en Informatique et en Automatique

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Given a control system and a set of optimal trajectories, is it possible to recover the cost for which the trajectories are minimizing This question is called inverse optimal control problem, and the problem is said to be injective when it admits a unique solution. In this paper we present a general approach to address the issue of the cost uniqueness in the class of quadratic costs and in the case of dynamics given by a control-affine system. We then apply this method to characterize the non-uniqueness cases for a special subclass of control-affine systems.

Original language	English
Title of host publication	2019 IEEE 58th Conference on Decision and Control, CDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	511-516
Number of pages	6
ISBN (Electronic)	9781728113982
DOIs	https://doi.org/10.1109/CDC40024.2019.9028877
Publication status	Published - 1 Dec 2019
Event	58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France Duration: 11 Dec 2019 → 13 Dec 2019

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2019-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	58th IEEE Conference on Decision and Control, CDC 2019
Country/Territory	France
City	Nice
Period	11/12/19 → 13/12/19

Access to Document

10.1109/CDC40024.2019.9028877

Cite this

Jean, F., & Maslovskaya, S. (2019). Injectivity of the inverse optimal control problem for control-affine systems. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 511-516). Article 9028877 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9028877

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title = "Injectivity of the inverse optimal control problem for control-affine systems",

abstract = "Given a control system and a set of optimal trajectories, is it possible to recover the cost for which the trajectories are minimizing This question is called inverse optimal control problem, and the problem is said to be injective when it admits a unique solution. In this paper we present a general approach to address the issue of the cost uniqueness in the class of quadratic costs and in the case of dynamics given by a control-affine system. We then apply this method to characterize the non-uniqueness cases for a special subclass of control-affine systems.",

author = "Frederic Jean and Sofya Maslovskaya",

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year = "2019",

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doi = "10.1109/CDC40024.2019.9028877",

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Jean, F & Maslovskaya, S 2019, Injectivity of the inverse optimal control problem for control-affine systems. in 2019 IEEE 58th Conference on Decision and Control, CDC 2019., 9028877, Proceedings of the IEEE Conference on Decision and Control, vol. 2019-December, Institute of Electrical and Electronics Engineers Inc., pp. 511-516, 58th IEEE Conference on Decision and Control, CDC 2019, Nice, France, 11/12/19. https://doi.org/10.1109/CDC40024.2019.9028877

Injectivity of the inverse optimal control problem for control-affine systems. / Jean, Frederic; Maslovskaya, Sofya.
2019 IEEE 58th Conference on Decision and Control, CDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 511-516 9028877 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Given a control system and a set of optimal trajectories, is it possible to recover the cost for which the trajectories are minimizing This question is called inverse optimal control problem, and the problem is said to be injective when it admits a unique solution. In this paper we present a general approach to address the issue of the cost uniqueness in the class of quadratic costs and in the case of dynamics given by a control-affine system. We then apply this method to characterize the non-uniqueness cases for a special subclass of control-affine systems.

AB - Given a control system and a set of optimal trajectories, is it possible to recover the cost for which the trajectories are minimizing This question is called inverse optimal control problem, and the problem is said to be injective when it admits a unique solution. In this paper we present a general approach to address the issue of the cost uniqueness in the class of quadratic costs and in the case of dynamics given by a control-affine system. We then apply this method to characterize the non-uniqueness cases for a special subclass of control-affine systems.

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AN - SCOPUS:85082449472

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BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019

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T2 - 58th IEEE Conference on Decision and Control, CDC 2019

Y2 - 11 December 2019 through 13 December 2019

ER -

Injectivity of the inverse optimal control problem for control-affine systems

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