Sparsity-promoting optimal control for a class of distributed systems

Makan Fardad; Fu Lin; Mihailo R. Jovanović

doi:10.1109/acc.2011.5991020

Sparsity-promoting optimal control for a class of distributed systems

Makan Fardad, Fu Lin, Mihailo R. Jovanović

Department of Electrical Engineering & Computer Science

Research output: Chapter in Book/Entry/Poem › Conference contribution

110 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 language	English (US)
Title of host publication	Proceedings of the 2011 American Control Conference, ACC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2050-2055
Number of pages	6
ISBN (Print)	9781457700804
DOIs	https://doi.org/10.1109/acc.2011.5991020
State	Published - 2011

Publication series

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

Keywords

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

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2011.5991020

Cite this

Sparsity-promoting optimal control for a class of distributed systems. / Fardad, Makan; Lin, Fu; Jovanović, Mihailo R.
Proceedings of the 2011 American Control Conference, ACC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 2050-2055 5991020 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Entry/Poem › Conference contribution

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AB - 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.

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KW - reweighting

KW - semidefinite program

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KW - vehicular formations

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Sparsity-promoting optimal control for a class of distributed systems

Abstract

Publication series

Keywords

ASJC Scopus subject areas

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