In this paper, we consider the problem of computing parameters of an objective function for a discrete-time optimal control problem from state and control trajectories with active control constraints. We propose a novel method of inverse optimal control that has a computationally efficient online form in which pairs of states and controls from given state and control trajectories are processed sequentially without being stored or processed in batches. We establish conditions guaranteeing the uniqueness of the objective-function parameters computed by our proposed method from trajectories with active control constraints. We illustrate our proposed method in simulation.

在本文中，我们考虑从具有主动控制约束的状态和控制轨迹为离散时间最优控制问题计算目标函数参数的问题。我们提出了一种新型的逆最优控制方法，该方法具有计算效率高的在线形式，其中按顺序处理来自给定状态和控制轨迹的成对状态和控制，而无需进行批量存储或处理。我们建立条件，以保证我们提出的方法从具有主动控制约束的轨迹计算出的目标函数参数的唯一性。我们在仿真中说明了我们提出的方法。