title: Discrete-time neural inverse optimal control for nonlinear systems via passivation.
abstract: This paper presents a discrete-time inverse optimal neural controller, which is constituted by combination of two techniques: 1) inverse optimal control to avoid solving the Hamilton-Jacobi-Bellman equation associated with nonlinear system optimal control and 2) on-line neural identification, using a recurrent neural network trained with an extended Kalman filter, in order to build a model of the assumed unknown nonlinear system. The inverse optimal controller is based on passivity theory. The applicability of the proposed approach is illustrated via simulations for an unstable nonlinear system and a planar robot.
authors.forename: Fernando
authors.initials: F
authors.lastname: Ornelas-Tellez
authors.forename: Edgar N
authors.initials: EN
authors.lastname: Sanchez
authors.forename: Alexander G
authors.initials: AG
authors.lastname: Loukianov
mesh_terms: D016571:Neural Networks, Computer; D017711:Nonlinear Dynamics; D012371:Robotics / Q000379:methods; D013997:Time Factors