Inverse optimal control for strict‐feedforward nonlinear systems with input delays

Funding information National Natural Science Foundation of China, Grant/Award Number: 61773350 and 61374077; Natural Science Foundation of Zhejiang Province of China, Grant/Award Number: LY17F030001; Science Fund for Distinguished Young Scholars of Hubei Province of China, Grant/Award Number: 2017CFA034 Summary 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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