Minimum attention control for linear systems : a linear programming approach

In this paper, we present a novel solution to the minimum attention control problem for linear systems. In minimum attention control, the objective is to minimise the ‘attention’ that a control task requires, given certain performance requirements. Here, we interpret ‘attention’ as the inverse of the interexecution time, i.e., the inverse of the time between two consecutive executions. Instrumental for our approach is a particular extension of the notion of a control Lyapunov function and the fact that we allow for only a finite number of possible interexecution times. By choosing this extended control Lyapunov function to be an 8-norm-based function, the minimum attention control problem can be formulated as a linear program, which can be solved efficiently online. Furthermore, we provide a technique to construct a suitable 8-norm-based (extended) control Lyapunov function. Finally, we illustrate the theory using a numerical example, which shows that minimum attention control outperforms an alternative ‘attention-aware’ control law available in the literature

Event-based control for networked systems: From centralized to distributed approaches

[ES] Los sistemas de control en red (SCR) son aquellos en los que los diferentes elementos de un lazo de control (sensores, actuadores y controladores) se encuentran espacialmente distribuidos y la transmisión entre ellos tiene lugar a travón de informaciés de un canal de comunicación o red. La reducción de la cantidad de información transmitida juega un papel importante en el desempeño de estos sitemas, y reglas de comunicación no convencionales como el control basado en eventos, se han demostrado efectivas. En este artículo se revisan algunas de estas estrategias, centrándose en primer lugar en los SCR centralizados, para posteriormente estudiar esquemas de control distribuido, aplicados a sistemas de gran escala. Finalmente, algunos de los resultados teóricos se aplican al control de formaciones en un sistema de experimentación real.[EN] Networked control systems (NCSs) are spatially distributed systems in which sensors, actuators and controllers exchange information through a communication channel or network. The reduction in the amount of transmitted information has a relevant impact over the system’s performance. In this regard, non-conventional communication rules, such as the event-based control, have been demonstrated to be effective. In this paper, some of these strategies are reviewed. We first focus on centralized NCSs, and then the distributed control for large-scale systems is studied. Finally, some of the results are applied to the formation control problem and implemented over an experimental setup.Este trabajo ha sido financiado por el Ministerio de Economía y Competitividad bajo los proyectos DPI2012-31303 y DPI2014-55932-C2-2-R, y por la UNED a través del proyecto 2014-007-UNED-PROY.Guinaldo, M.; Sánchez, J.; Dormido, S. (2017). Control en red basado en eventos: de lo centralizado a lo distribuido. Revista Iberoamericana de Automática e Informática industrial. 14(1):16-30. https://doi.org/10.1016/j.riai.2016.09.007OJS1630141Anta, A., Tabuada, P., 2010a. On the minimum attention and anytime attention problems for nonlinear systems. En: 49th IEEE Conference on Decision and Control. Atlanta, pp. 3234-3239.Anta, A., Tabuada, P., 2010b. To sample or not to sample: self-triggered control for nonlinear systems. IEEE Transactions on Automatic Control 55 (9), 2030-2042.Araujo, J., 2014. 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