Inverse optimal control for strict‐feedforward nonlinear systems with input delays |
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| Authors: | Xiushan Cai Cong Lin Leipo Liu Xisheng Zhan |
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| Affiliation: | 1. College of Mathematics, Physics, and Information Engineering, Zhejiang Normal University, Jinhua 321004, China;2. College of Mechatronics and Control Engineering, Hubei Normal University, Huangshi 435002, China;3. Xingzhi College, Zhejiang Normal University, Jinhua 321004, China;4. College of Electric and Information Engineering, Henan University of Science and Technology, Luoyang 471003, China |
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| Abstract: | We consider inverse optimal control for strict‐feedforward systems with input delays. A basic predictor control is designed for compensation for this class of nonlinear systems. Furthermore, the proposed predictor control is inverse optimal with respect to a meaningful differential game problem. For a class of linearizable strict‐feedforward system, an explicit formula for compensation for input delay, which is also inverse optimal with respect to a meaningful differential game problem, is also acquired. A cart with an inverted pendulum system is given to illustrate the validity of the proposed method. |
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| Keywords: | actuator delay explicit formula inverse optimality predictor feedback strict‐feedforward systems |
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