Maximum Hands-Off Control: A Paradigm of Control Effort Minimization
Abstract
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.
Keywords
Cite
@article{arxiv.1408.3025,
title = {Maximum Hands-Off Control: A Paradigm of Control Effort Minimization},
author = {M. Nagahara and D. E. Quevedo and D. Nesic},
journal= {arXiv preprint arXiv:1408.3025},
year = {2016}
}
Comments
IEEE Transactions on Automatic Control, 2015 (to appear)