Fast Hands-Off Control Using ADMM Real-Time Iterations

• 成果类型: Article
• 署名作者: Darup, Moritz Schulze; Book, Gerrit; Quevedo, Daniel E.; Nagahara, Masaaki
• 署名单位: Dortmund University of Technology; University of Paderborn; Queensland University of Technology (QUT); University of Kitakyushu
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3121255
• 发表日期: 2022
• 页码: 5416-5423
• 关键词: l(1)-optimal control; dead-beat control; hands-off control; real-time iterations; sparsity; STABILITY

摘要

We investigate the implementation of a sparsitypromoting hands-off control scheme using the alternating direction method of multiplies (ADMM). In order to minimize the numerical control effort along with the actuation one, only a single ADMM iteration per time step is considered. We analyze the resulting closed-loop dynamics for linear systems with additive disturbances and show that the proposed scheme provides sparse controls as desired and, in addition, ensures input-to-state practical stability. We further point out a close relation between the proposed real-time scheme and (nonminimum time) dead-beat control. Finally, characteristics and effectiveness of the novel hands-off controller(s) are illustrated with numerical examples.