Communication Dans Un Congrès Année : 2017

On inverse optimal control via polynomial optimization

Résumé

We consider the class of control systems where the differential equation, state and control system are described by polynomials. Given a set of trajectories and a class of Lagrangians, we are interested to find a Lagrangian in this class for which these trajectories are optimal. To model this inverse problem we use a relaxed version of Hamilton-Jacobi-Bellman optimality conditions, in the continuity of previous work in this vein. Then we provide a general numerical scheme based on polynomial optimization and positivity certificates, and illustrate the concepts on a few academic examples.

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Dates et versions

hal-01493034 , version 1 (20-03-2017)

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Jean-Bernard Lasserre, Jérémy Rouot. On inverse optimal control via polynomial optimization. IEEE 56th Annual Conference on Decision and Control (CDC 2017), Dec 2017, Melbourne, Australia. pp.721-726, ⟨10.1109/CDC.2017.8263745⟩. ⟨hal-01493034⟩
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