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Fast Hands-Off Control Using ADMM Real-Time Iterations.
- Source :
-
IEEE Transactions on Automatic Control . Oct2022, Vol. 67 Issue 10, p5416-5423. 8p. - Publication Year :
- 2022
-
Abstract
- 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. [ABSTRACT FROM AUTHOR]
- Subjects :
- *LINEAR systems
*SYSTEM dynamics
*CONVEX functions
Subjects
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 67
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 160621556
- Full Text :
- https://doi.org/10.1109/TAC.2021.3121255