$\mathcal{H}_2/\mathcal{H}_\infty$ Optimal Control with Sparse Sensing and Actuation
Vedang M. Deshpande, Raktim Bhattacharya
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Abstract
In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified and 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 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.
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Taxonomy
TopicsOptimization and Variational Analysis · Numerical methods in inverse problems · Control and Stability of Dynamical Systems