Sparsity-promoting optimal control for a class of distributed systems

Makan Fardad, Fu Lin, Mihailo R. Jovanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution

80 Scopus citations

Abstract

We consider a linear quadratic optimal control problem with an additional penalty on the number of communication links in the distributed controller. We reformulate this combinatorial optimization problem as a sequence of weighted ℓ1 problems, where the weighted ℓ1 norm approximates the counting of the communication links. We identify a class of systems for which the weighted ℓ1 problem can be formulated as a semidefinite program and therefore its solution can be computed efficiently. Application of the developed algorithm to the optimal control of vehicular formations reveals communication topologies that become sparser as the price of inter-vehicular communications is increased.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2050-2055
Number of pages6
ISBN (Print)9781457700804
DOIs
StatePublished - 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Keywords

  • Communication architecture
  • convex optimization
  • reweighting
  • semidefinite program
  • sparsity-promoting optimal control
  • vehicular formations

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