Self-triggered linear quadratic control

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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. Keywords : Self-triggered control; Networked control systems; Linear quadratic regulator; Limiting control actions; LQG control
Original languageEnglish
Pages (from-to)1279-1287
Number of pages9
JournalAutomatica
Volume50
Issue number4
DOIs
Publication statusPublished - 2014

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Networked control systems
Communication
Feedback
Costs

Cite this

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title = "Self-triggered linear quadratic control",
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. Keywords : Self-triggered control; Networked control systems; Linear quadratic regulator; Limiting control actions; LQG control",
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Self-triggered linear quadratic control. / Gommans, T.M.P.; Guerreiro Tomé Antunes, D.J.; Donkers, M.C.F.; Tabuada, P.; Heemels, W.P.M.H.

In: Automatica, Vol. 50, No. 4, 2014, p. 1279-1287.

Research output: Contribution to journalArticleAcademicpeer-review

TY - JOUR

T1 - Self-triggered linear quadratic control

AU - Gommans, T.M.P.

AU - Guerreiro Tomé Antunes, D.J.

AU - Donkers, M.C.F.

AU - Tabuada, P.

AU - Heemels, W.P.M.H.

PY - 2014

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AB - 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. Keywords : Self-triggered control; Networked control systems; Linear quadratic regulator; Limiting control actions; LQG control

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