Predicting Strategies of Driving in Presence of Additional Visually Demanding Tasks: Inverse Optimal Control Estimation of Steering and Glance Behaviour Models

2017 ◽  
pp. 183-204
Author(s):  
Felix Schmitt ◽  
Andreas Korthauer ◽  
Dietrich Manstetten ◽  
Hans-Joachim Bieg
Keyword(s):  
Optimal Control ◽  
Inverse Optimal Control ◽  
Behaviour Models

Anti‐disturbance inverse optimal control for systems with disturbances

2021 ◽  
Author(s):  
Zhong‐Xin Fan ◽  
Avizit Chandra Adhikary ◽  
Shihua Li ◽  
Rongjie Liu
Keyword(s):  
Optimal Control ◽  
Inverse Optimal Control

scholarly journals Discrete-time inverse optimal control for a reaction wheel pendulum: a passivity-based control approach

2020 ◽  
Vol 19 (4) ◽  
pp. 123-132 ◽  
Author(s):  
Oscar Danilo Montoya ◽  
Walter Gil-González ◽  
Federico Martin Serra
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Point Of View ◽  
Control Analysis ◽  
Inverse Optimal Control ◽  
Reaction Wheel ◽  
Control Approach ◽  
Control Functions ◽  
Passivity Based Control ◽  
The Time Domain

In this paper it is presented the design of a controller for a reaction wheel pendulum using a discrete-time representation via optimal control from the point of view of passivity-based control analysis. The main advantage of the proposed approach is that it allows to guarantee asymptotic stability convergence using a quadratic candidate Lyapunovfunction. Numerical simulations show that the proposed inverse optimal control design permits to reach superiornumerical performance reported by continuous approaches such as Lyapunov control functions and interconnection,and damping assignment passivity-based controllers. An additional advantageof the proposed inverse optimal controlmethod is its easy implementation since it does not employ additional states. It is only required a basic discretizationof the time-domain dynamical model based on the backward representation. All the simulations are carried out inMATLAB/OCTAVE software using a codification on the script environment.

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