Inverse Optimality Design for Biological Movement Systems
نویسندگان
چکیده
This paper proposes an inverse optimality design method for nonlinear deterministic system and nonlinear stochastic system with multiplicative and additive noises. The new method is developed based on the general Hamilton-Jacobi-Bellman(HJB) equation, and it constructs an estimated cost function using a linear function approximator—Gaussian Radial Basis function, which can recover the original performance criterion for which the given control law is optimal. The performance of the algorithm is illustrated on scalar systems and a complex biomechanical control problem involving a stochastic model of the human arm.
منابع مشابه
Backstepping design with local optimality matching
In this study of the nonlinear H∞-optimal control design for strict-feedback nonlinear systems our objective is to construct globally stabilizing control laws to match the optimal control law up to any desired order, and to be inverse optimal with respect to some computable cost functional. Our recursive construction of a cost functional and the corresponding solution to the Hamilton-Jacobi-Isa...
متن کاملInverse Optimal Control of Linear Distributed Parameter Systems
A constructive method is developed to design inverse optimal controllers for a class of linear distributed parameter systems (DPSs). Inverse optimality guarantees that the cost functional to be minimized is meaningful in the sense that the symmetric and positive definite weighting kernel matrix on the states is chosen after the control design instead of being specified at the start of the contr...
متن کاملOptimal design of adaptive tracking controllers for non-linear systems
We pose and solve an \inverse optimal" adaptive tracking problem for nonlin-ear systems with unknown parameters. A controller is said to be inverse optimal when it minimizes a meaningful cost functional that incorporates integral penalty on the tracking error state and the control, as well as a terminal penalty on the parameter estimation error. The basis of our method is an adaptive tracking c...
متن کاملPerformance and H INFINITY optimality of PID trajectory tracking controller for Lagrangian systems
This paper suggests an inverse optimal proportional–integral–derivative (PID) control design method to track trajectories in Lagrangian systems. The inverse optimal PID controller exists if and only if the Lagrangian system is extended disturbance input-to-state stable. First, we find the Lyapunov function and the control law that satisfy the extended disturbance input-to-state stability by usi...
متن کاملDisturbance attenuating output-feedback control of nonlinear systems with local optimality
Locally optimal backstepping is extended to output-feedback systemswith input disturbances and nonlinearities that depend only on the measured output. The constructive design blends worst-case "ltering with backstepping, and results in a disturbance attenuating dynamic output-feedback controller that achieves semiglobal inverse optimality and local near-optimality. 2001 Published by Elsevier Sc...
متن کامل