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arXiv · 1703.07312

On inverse optimal control via polynomial optimization

Jérémy Rouot·Jean-Bernard Lasserre
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Abstract

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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Jérémy Rouot, Jean-Bernard Lasserre. 2017-03-21. On inverse optimal control via polynomial optimization. https://arxiv.org/abs/1703.07312

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