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

convex optimizationsparsityoptimal controlmaximum hands-off controlbang-off-bang controlCLOT (Combined \(L\)-One and Two)

Mathematics Subject Classification ID

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

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

(11)

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

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• PDCO

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