Fast Hands-Off Control Using ADMM Real-Time Iterations
| Autor: | Gerrit Book, Daniel E. Quevedo, Masaaki Nagahara, Moritz Schulzedarup |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
Scheme (programming language)
Relation (database) Computer science Linear system Control (management) Stability (learning theory) Computer Science Applications Control and Systems Engineering Control theory Numerical control Point (geometry) Electrical and Electronic Engineering computer computer.programming_language |
| Zdroj: | IEEE Transactions on Automatic Control. 67:5416-5423 |
| ISSN: | 2334-3303 0018-9286 |
| Popis: | We investigate the implementation of a sparsity promoting hands-off control scheme using the alternating direction method of multiplies (ADMM). In order to minimize the numerical control effort along with the actuation one, only a single ADMM iteration per time step is considered. We analyze the resulting closed-loop dynamics for linear systems with additive disturbances and show that the proposed scheme provides sparse controls as desired and, in addition, ensures input-to-state practical stability. We further point out a close relation between the proposed real-time scheme and (non-minimum time) dead-beat control. Finally, characteristics and effectiveness of the novel hands-off controller(s) are illustrated with numerical examples. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|