Abstract
In this paper, we present two control laws that are tailored for control applications in which computational and/or communication resources are scarce. Namely, we consider minimum attention control, where the `attention' that a control task requires is minimised given certain performance requirements, and anytime attention control, where the performance under the `attention' given by a scheduler is maximised. Here, we interpret `attention' as the inverse of the time elapsed between two consecutive executions of a control task. By focussing on linear plants, by allowing for only a finite number of possible intervals between two subsequent executions of the control task, by making a novel extension to the notion of control Lyapunov functions and taking these novel extended control Lyapunov function to be infinity-norm-based, we can formulate the aforementioned control problems as online linear programs, which can be solved efficiently. Furthermore, we provide techniques to construct suitable infinity-norm-based extended control Lyapunov functions for our purposes. Finally, we illustrate the resulting control laws using numerical examples. In particular, we show that minimum attention control outperforms an alternative implementation-aware control law available in the literature.
Original language | English |
---|---|
Title of host publication | Proceedings of the 50th IEEE Conference on Decision and Control (CDC 2011), 12-15 December 2011, Orlando, USA |
Place of Publication | Piscataway |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 4717-4722 |
ISBN (Print) | 978-1-61284-800-6 |
DOIs | |
Publication status | Published - 2011 |
Event | 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) - Hilton Orlando Bonnet Creek, Orlando, United States Duration: 12 Dec 2011 → 15 Dec 2011 Conference number: 50 http://www.ieeecss.org/CAB/conferences/cdcecc2011/ |
Conference
Conference | 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011) |
---|---|
Abbreviated title | CDC-ECC 2011 |
Country/Territory | United States |
City | Orlando |
Period | 12/12/11 → 15/12/11 |
Other | 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 |
Internet address |