Maximum Hands-Off Control: A Paradigm of Control Effort Minimization
M Nagahara, DE Quevedo, D Nesic
IEEE Transactions on Automatic Control | IEEE | Published : 2016
© 2015 IEEE. In this paper, we propose a 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 continuous-time 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. The same result is obtained for discrete-time hands-off control. We also propose an L1/L2-optimal control to obtain ..View full abstract
Awarded by JSPS KAKENHI
Awarded by Grants-in-Aid for Scientific Research
This work was supported in part by JSPS KAKENHI Grants 26120521, 15K14006, and 15H02668. A preliminary version of this paper was presented at the 52nd IEEE Conference on Decision and Control, 2013. Recommended by Associate Editor D. Bauso.