10,602 research outputs found
Maximum Hands-Off Control: A Paradigm of Control Effort Minimization
In this paper, we propose a new paradigm of control, called a maximum
hands-off control. A hands-off control is defined as a control that has a short
support per unit time. The maximum hands-off control is the minimum support (or
sparsest) per unit time among all controls that achieve control objectives. For
finite horizon control, we show the equivalence between the maximum hands-off
control and L1-optimal control under a uniqueness assumption called normality.
This result rationalizes the use of L1 optimality in computing a maximum
hands-off control. We also propose an L1/L2-optimal control to obtain a smooth
hands-off control. Furthermore, we give a self-triggered feedback control
algorithm for linear time-invariant systems, which achieves a given sparsity
rate and practical stability in the case of plant disturbances. An example is
included to illustrate the effectiveness of the proposed control.Comment: IEEE Transactions on Automatic Control, 2015 (to appear
Sparse and Constrained Stochastic Predictive Control for Networked Systems
This article presents a novel class of control policies for networked control
of Lyapunov-stable linear systems with bounded inputs. The control channel is
assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to
be affected by additive stochastic noise. Our proposed class of policies is
affine in the past dropouts and saturated values of the past disturbances. We
further consider a regularization term in a quadratic performance index to
promote sparsity in control. We demonstrate how to augment the underlying
optimization problem with a constant negative drift constraint to ensure
mean-square boundedness of the closed-loop states, yielding a convex quadratic
program to be solved periodically online. The states of the closed-loop plant
under the receding horizon implementation of the proposed class of policies are
mean square bounded for any positive bound on the control and any non-zero
probability of successful transmission
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