2024/09/15 by Vedang M. Deshpande, Deshpande, Vedang M., Raktim Bhattacharya +1
Computer Science · Mathematics · Engineering · #Optimization and Variational Analysis #Numerical methods in inverse problems #Control and Stability of Dynamical Systems
paper · pdf · doi:10.48550/arxiv.2409.09596
In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified H2 and H_∞ 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 ℓ1 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.