Inverse Optimal Control for Linear Quadratic Tracking with Unknown Target States Article Swipe
Yao Li
,
Chengpu Yu
,
Hao Fang
,
Jie Chen
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2402.17247
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2402.17247
This paper addresses the inverse optimal control for the linear quadratic tracking problem with a fixed but unknown target state, which aims to estimate the possible triplets comprising the target state, the state weight matrix, and the input weight matrix from observed optimal control input and the corresponding state trajectories. Sufficient conditions have been provided for the unique determination of both the linear quadratic cost function as well as the target state. A computationally efficient and numerically reliable parameter identification algorithm is proposed by equating optimal control strategies with a system of linear equations, and the associated relative error upper bound is derived in terms of data volume and signal-to-noise ratio. Moreover, the proposed inverse optimal control algorithm is applied for the joint cluster coordination and intent identification of a multi-agent system. By incorporating the structural constraint of the Laplace matrix, the relative error upper bound can be reduced accordingly. Finally, the algorithm's efficiency and accuracy are validated by a vehicle-on-a-lever example and a multi-agent formation control example.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2402.17247
- https://arxiv.org/pdf/2402.17247
- OA Status
- green
- Cited By
- 2
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4392271025
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4392271025Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2402.17247Digital Object Identifier
- Title
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Inverse Optimal Control for Linear Quadratic Tracking with Unknown Target StatesWork title
- Type
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preprintOpenAlex work type
- Language
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enPrimary language
- Publication year
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2024Year of publication
- Publication date
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2024-02-27Full publication date if available
- Authors
-
Yao Li, Chengpu Yu, Hao Fang, Jie ChenList of authors in order
- Landing page
-
https://arxiv.org/abs/2402.17247Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2402.17247Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
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https://arxiv.org/pdf/2402.17247Direct OA link when available
- Concepts
-
Inverse, Tracking (education), Quadratic equation, Control theory (sociology), Control (management), Mathematics, Applied mathematics, Computer science, Artificial intelligence, Psychology, Geometry, PedagogyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1Per-year citation counts (last 5 years)
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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