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2016

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

4 years 6 months ago
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 handsoff 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.
Masaaki Nagahara, Daniel E. Quevedo, Dragan Nesic
Added 10 Apr 2016
Updated 10 Apr 2016
Type Journal
Year 2016
Where TAC
Authors Masaaki Nagahara, Daniel E. Quevedo, Dragan Nesic
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