CLOT norm minimization for continuous hands-off control

DOI10.1016/J.AUTOMATICA.2019.108679MaRDI QIDQ2173898zbMATH OpenOpenAlexWikidataFDO

Authors Masaaki Nagahara, Debasish Chatterjee, Niharika Challapalli, M. Vidyasagar

Publication date 17 April 2020

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1710.07952

zbMATH Keywords

bang-off-bang controlCLOT (Combined \(L\)-One and Two)convex optimizationmaximum hands-off controloptimal controlsparsity

Mathematics Subject Classification ID

Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Nonsmooth analysis (49J52)

Abstract: In this paper, we consider hands-off control via minimization of the CLOT (Combined $L$-One and Two) norm. The maximum hands-off control is the $L^0$-optimal (or the sparsest) control among all feasible controls that are bounded by a specified value and transfer the state from a given initial state to the origin within a fixed time duration. In general, the maximum hands-off control is a bang-off-bang control taking values of $pm1$ and $0$. For many real applications, such discontinuity in the control is not desirable. To obtain a continuous but still relatively sparse control, we propose to use the CLOT norm, a convex combination of $L^1$ and $L^2$ norms. We show by numerical simulations that the CLOT control is continuous and much sparser (i.e. has longer time duration on which the control takes 0) than the conventional EN (elastic net) control, which is a convex combination of $L^1$ and squared $L^2$ norms. We also prove that the CLOT control is continuous in the sense that, if $O(h)$ denotes the sampling period, then the difference between successive values of the CLOT-optimal control is $O(sqrth)$, which is a form of continuity. Also, the CLOT formulation is extended to encompass constraints on the state variable.

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Cited in

(12)

• Resource-aware time-optimal control with multiple sparsity measures
• CLOT norm minimization for continuous hands-off control
• Linear matrix inequalities in control systems with uncertainty
• Maximum Hands-Off Control: A Paradigm of Control Effort Minimization
• Characterization of maximum hands-off control
• Time‐optimal L¹/L² norms optimal control for linear time‐invariant systems
• Switching controller for nonlinear systems: an invariant [K, KL] sector approach*
• Sparse control for continuous‐time systems
• Asymptotic stabilization with group‐wise sparse input based on control Lyapunov function approach
• Some mathematical characteristics in sparse control for linear time-varying systems
• Sparse optimization of H₂ controllers for LTI systems: a log-barrier method
• Value function in maximum hands-off control for linear systems

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Uses Software

• CVX
• PDCO

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