$\mathcal{H}_2/\mathcal{H}_\infty$ Optimal Control with Sparse Sensing and Actuation
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866929500303917056 |
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| author | Deshpande, Vedang M. Bhattacharya, Raktim |
| author_facet | Deshpande, Vedang M. Bhattacharya, Raktim |
| contents | In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified $\mathcal{H}_2$ and $\mathcal{H}_\infty$ performance criteria. For output-feedback control, we extend these formulations to simultaneously design control laws with sparse actuation and sensing. The sparsity is induced through the minimization of a weighted $\ell_1$ norm, promoting the efficient use of sensors and actuators while maintaining desired closed-loop performance. The proposed methods are applied to a nonlinear structural dynamics problem, demonstrating the advantages of simultaneous optimization of the control law, sensing, and actuation architecture in realizing an efficient closed-loop system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_09596 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | $\mathcal{H}_2/\mathcal{H}_\infty$ Optimal Control with Sparse Sensing and Actuation Deshpande, Vedang M. Bhattacharya, Raktim Systems and Control Optimization and Control In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified $\mathcal{H}_2$ and $\mathcal{H}_\infty$ performance criteria. For output-feedback control, we extend these formulations to simultaneously design control laws with sparse actuation and sensing. The sparsity is induced through the minimization of a weighted $\ell_1$ norm, promoting the efficient use of sensors and actuators while maintaining desired closed-loop performance. The proposed methods are applied to a nonlinear structural dynamics problem, demonstrating the advantages of simultaneous optimization of the control law, sensing, and actuation architecture in realizing an efficient closed-loop system. |
| title | $\mathcal{H}_2/\mathcal{H}_\infty$ Optimal Control with Sparse Sensing and Actuation |
| topic | Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2409.09596 |