Inverse optimal control for a hybrid dynamical system with impacts

Navid Aghasadeghi, Andrew Long, Timothy Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we develop an approach to inverse optimal control for a class of hybrid dynamical system with impacts. As it is usually posed, the problem of inverse optimal control is to find a cost function that is consistent with an observed sequence of decisions, under the assumption that these decisions are optimal. We assume instead that observed decisions are only approximately optimal and find a cost function that minimizes the extent to which these decisions violate first-order necessary conditions for optimality. For the hybrid dynamical system that we consider with a cost function that is a linear combination of known basis functions, this minimization is a convex program. In fact, it reduces to a simple least-squares computation that - unlike most other forms of inverse optimal control - can be solved very efficiently. We apply our approach to a dynamic bipedal climbing robot in simulation, showing that we can recover cost functions from observed trajectories that are consistent with two different modes of locomotion.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4962-4967
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - Jan 1 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: May 14 2012May 18 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
CountryUnited States
CitySaint Paul, MN
Period5/14/125/18/12

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Aghasadeghi, N., Long, A., & Bretl, T. (2012). Inverse optimal control for a hybrid dynamical system with impacts. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4962-4967). [6225259] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225259