Inverse optimal control for averaged cost per stage linear quadratic regulators

DOI10.1016/J.SYSCONLE.2023.105658MaRDI QIDQ6131460zbMATH OpenOpenAlexFDO

Authors

Publication date 5 April 2024

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2305.15332

zbMATH Keywords

convex optimizationsemidefinite programmingsystem identificationinverse optimal controlinverse reinforcement learning

Mathematics Subject Classification ID

Convex programming (90C25) Semidefinite programming (90C22) Inverse problems in optimal control (49N45) System identification (93B30)

Abstract: Inverse Optimal Control (IOC) is a powerful framework for learning a behaviour from observations of experts. The framework aims to identify the underlying cost function that the observed optimal trajectories (the experts' behaviour) are optimal with respect to. In this work, we considered the case of identifying the cost and the feedback law from observed trajectories generated by an ``average cost per stage" linear quadratic regulator. We show that identifying the cost is in general an ill-posed problem, and give necessary and sufficient conditions for non-identifiability. Moreover, despite the fact that the problem is in general ill-posed, we construct an estimator for the cost function and show that the control gain corresponding to this estimator is a statistically consistent estimator for the true underlying control gain. In fact, the constructed estimator is based on convex optimization, and hence the proved statistical consistency is also observed in practice. We illustrate the latter by applying the method on a simulation example from rehabilitation robotics.

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Cited in

(1)

• Statistically consistent inverse optimal control for discrete-time indefinite linear-quadratic systems

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