Self-triggered linear quadratic control |
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| Authors: | Tom Gommans Duarte Antunes Tijs Donkers Paulo Tabuada Maurice Heemels |
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| Affiliation: | 1. Control Systems Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, 5600MB Eindhoven, The Netherlands;2. Control Systems Group, Department of Electrical Engineering, Eindhoven University of Technology, 5600MB Eindhoven, The Netherlands;3. Cyber–Physical Systems Laboratory, Department of Electrical Engineering, University of California at Los Angeles, USA |
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| Abstract: | Self-triggered control is a recently proposed paradigm that abandons the more traditional periodic time-triggered execution of control tasks with the objective of reducing the utilization of communication resources, while still guaranteeing desirable closed-loop behavior. In this paper, we introduce a self-triggered strategy based on performance levels described by a quadratic discounted cost. The classical LQR problem can be recovered as an important special case of the proposed self-triggered strategy. The self-triggered strategy proposed in this paper possesses three important features. Firstly, the control laws and triggering mechanisms are synthesized so that a priori chosen performance levels are guaranteed by design. Secondly, they realize significant reductions in the usage of communication resources. Thirdly, we address the co-design problem of jointly designing the feedback law and the triggering condition. By means of a numerical example, we show the effectiveness of the presented strategy. In particular, for the self-triggered LQR strategy, we show quantitatively that the proposed scheme can outperform conventional periodic time-triggered solutions. |
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| Keywords: | Self-triggered control Networked control systems Linear quadratic regulator Limiting control actions LQG control |
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