Maximum Hands-Off Control: A Paradigm of Control Effort Minimization

Autor:	Nagahara, M., Quevedo, D. E., Nesic, D.
Rok vydání:	2014
Předmět:	Computer Science - Systems and Control Computer Science - Information Theory Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/TAC.2015.2452831
Popis:	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)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1408.3025 Zobrazit plný text záznamu View this record from Arxiv