Related papers: Optimal multiplexing of sparse controllers for lin…
We study a constrained optimal control problem for an ensemble of control systems. Each sub-system (or plant) evolves on a matrix Lie group, and must satisfy given state and control action constraints pointwise in time. In addition, certain…
The paper introduces and solves a structural controllability problem for continuum ensembles of linear time-invariant systems. All the individual linear systems of an ensemble are sparse, governed by the same sparsity pattern.…
In this paper, we address two minimal controllability problems, where the goal is to determine a minimal subset of state variables in a linear time-invariant system to be actuated to ensure controllability under additional constraints.…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
This paper introduces and solves a structural controllability problem for ensembles of switched linear systems. All individual systems in the ensemble are sparse and governed by the same sparsity pattern, and undergo switching among…
Optimal control of bilinear systems has been a well-studied subject in the area of mathematical control. However, techniques for solving emerging optimal control problems involving an ensemble of structurally identical bilinear systems are…
This paper provides a novel approach for finding sparse state-space realizations of linear systems (e.g., controllers). Sparse controllers are commonly used in distributed control, where a controller is synthesized with some sparsity…
In this paper, we propose a sparsity-promoting feedback control design for stochastic linear systems with multiplicative noise. The objective is to identify a sparse control architecture that optimizes the closed-loop performance while…
In networked control systems, communication resource constraints often necessitate the use of \emph{sparse} control input vectors. A prototypical problem is how to ensure controllability of a linear dynamical system when only a limited…
Large-scale networked systems typically operate under resource constraints, and it is also difficult to exactly obtain the network structure between nodes. To address these issues, this paper investigates a sparse optimal control for…
In optimization routines used for on-line Model Predictive Control (MPC), linear systems of equations are usually solved in each iteration. This is true both for Active Set (AS) methods as well as for Interior Point (IP) methods, and for…
In this article, we investigate the problem of simultaneously steering an uncountable family of finite dimensional time-varying linear systems. We call this class of control problems Ensemble Control, a notion coming from the study of spin…
The paper aims at the development of an apparatus for analysis and construction of near optimal solutions of singularly perturbed (SP) optimal controls problems (that is, problems of optimal control of SP systems) considered on the infinite…
This paper discusses the problem of assembly line control and introduces an optimal control formulation that can be used to improve the performance of the assembly line, in terms of cycle time minimization, resources' utilization, etc. A…
We investigate the task of controlling ensembles of initial and terminal state vectors of parameter-dependent linear systems by applying parameter-independent open loop controls. Necessary, as well as sufficient, conditions for ensemble…
Selecting a few available actuators to ensure the controllability of a linear system is a fundamental problem in control theory. Previous works either focus on optimal performance, simplifying the controllability issue, or make the system…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
We present a novel class of minimax optimal control problems with positive dynamics, linear objective function and homogeneous constraints. The proposed problem class can be analyzed with dynamic programming and an explicit solution to the…
In this work, we consider the controllability of a discrete-time linear dynamical system with sparse control inputs. Sparsity constraints on the input arises naturally in networked systems, where activating each input variable adds to the…
The present work addresses a finite-horizon linear-quadratic optimal control problem for uncertain systems driven by piecewise constant controls. The precise values of the system parameters are unknown, but assumed to belong to a finite set…