4,107 research outputs found
Minimal Actuator Placement with Optimal Control Constraints
We introduce the problem of minimal actuator placement in a linear control
system so that a bound on the minimum control effort for a given state transfer
is satisfied while controllability is ensured. We first show that this is an
NP-hard problem following the recent work of Olshevsky. Next, we prove that
this problem has a supermodular structure. Afterwards, we provide an efficient
algorithm that approximates up to a multiplicative factor of O(logn), where n
is the size of the multi-agent network, any optimal actuator set that meets the
specified energy criterion. Moreover, we show that this is the best
approximation factor one can achieve in polynomial-time for the worst case.
Finally, we test this algorithm over large Erdos-Renyi random networks to
further demonstrate its efficiency.Comment: This version includes all the omitted proofs from the one to appear
in the American Control Conference (ACC) 2015 proceeding
Performance guarantees for greedy maximization of non-submodular controllability metrics
A key problem in emerging complex cyber-physical networks is the design of
information and control topologies, including sensor and actuator selection and
communication network design. These problems can be posed as combinatorial set
function optimization problems to maximize a dynamic performance metric for the
network. Some systems and control metrics feature a property called
submodularity, which allows simple greedy algorithms to obtain provably
near-optimal topology designs. However, many important metrics lack
submodularity and therefore lack provable guarantees for using a greedy
optimization approach. Here we show that performance guarantees can be obtained
for greedy maximization of certain non-submodular functions of the
controllability and observability Gramians. Our results are based on two key
quantities: the submodularity ratio, which quantifies how far a set function is
from being submodular, and the curvature, which quantifies how far a set
function is from being supermodular
Performance bounds for optimal feedback control in networks
Many important complex networks, including critical infrastructure and
emerging industrial automation systems, are becoming increasingly intricate
webs of interacting feedback control loops. A fundamental concern is to
quantify the control properties and performance limitations of the network as a
function of its dynamical structure and control architecture. We study
performance bounds for networks in terms of optimal feedback control costs. We
provide a set of complementary bounds as a function of the system dynamics and
actuator structure. For unstable network dynamics, we characterize a tradeoff
between feedback control performance and the number of control inputs, in
particular showing that optimal cost can increase exponentially with the size
of the network. We also derive a bound on the performance of the worst-case
actuator subset for stable networks, providing insight into dynamics properties
that affect the potential efficacy of actuator selection. We illustrate our
results with numerical experiments that analyze performance in regular and
random networks
Resilient Monotone Submodular Function Maximization
In this paper, we focus on applications in machine learning, optimization,
and control that call for the resilient selection of a few elements, e.g.
features, sensors, or leaders, against a number of adversarial
denial-of-service attacks or failures. In general, such resilient optimization
problems are hard, and cannot be solved exactly in polynomial time, even though
they often involve objective functions that are monotone and submodular.
Notwithstanding, in this paper we provide the first scalable,
curvature-dependent algorithm for their approximate solution, that is valid for
any number of attacks or failures, and which, for functions with low curvature,
guarantees superior approximation performance. Notably, the curvature has been
known to tighten approximations for several non-resilient maximization
problems, yet its effect on resilient maximization had hitherto been unknown.
We complement our theoretical analyses with supporting empirical evaluations.Comment: Improved suboptimality guarantees on proposed algorithm and corrected
typo on Algorithm 1's statemen
LQG Control and Sensing Co-Design
We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing
co-design problem, where one jointly designs sensing and control policies. We
focus on the realistic case where the sensing design is selected among a finite
set of available sensors, where each sensor is associated with a different cost
(e.g., power consumption). We consider two dual problem instances:
sensing-constrained LQG control, where one maximizes control performance
subject to a sensor cost budget, and minimum-sensing LQG control, where one
minimizes sensor cost subject to performance constraints. We prove no
polynomial time algorithm guarantees across all problem instances a constant
approximation factor from the optimal. Nonetheless, we present the first
polynomial time algorithms with per-instance suboptimality guarantees. To this
end, we leverage a separation principle, that partially decouples the design of
sensing and control. Then, we frame LQG co-design as the optimization of
approximately supermodular set functions; we develop novel algorithms to solve
the problems; and we prove original results on the performance of the
algorithms, and establish connections between their suboptimality and
control-theoretic quantities. We conclude the paper by discussing two
applications, namely, sensing-constrained formation control and
resource-constrained robot navigation.Comment: Accepted to IEEE TAC. Includes contributions to submodular function
optimization literature, and extends conference paper arXiv:1709.0882
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