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Linear conic optimization for inverse optimal control

Edouard Pauwels(epauwels***at***tx.technion.ac.il)
Didier Henrion(henrion***at***laas.fr)
Jean-Bernard Lasserre(lasserre***at***laas.fr)

Abstract: We address the inverse problem of Lagrangian identification based on trajectories in the context of nonlinear optimal control. We propose a general formulation of the inverse problem based on occupation measures and complementarity in linear programming. The use of occupation measures in this context offers several advantages from the theoretical, numerical and statistical points of view. We propose an approximation procedure for which strong theoretical guarantees are available. Finally, the relevance of the method is illustrated on academic examples.

Keywords: inverse optimal control; polynomial optimization; semidefinite progrmaming

Category 1: Applications -- Science and Engineering (Control Applications )

Category 2: Linear, Cone and Semidefinite Programming (Semi-definite Programming )


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Entry Submitted: 11/05/2014
Entry Accepted: 11/05/2014
Entry Last Modified: 11/05/2014

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