TY - GEN
T1 - Injectivity of the inverse optimal control problem for control-affine systems
AU - Jean, Frederic
AU - Maslovskaya, Sofya
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12/1
Y1 - 2019/12/1
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.
U2 - 10.1109/CDC40024.2019.9028877
DO - 10.1109/CDC40024.2019.9028877
M3 - Conference contribution
AN - SCOPUS:85082449472
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 511
EP - 516
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -