H2/H∞ Optimal Control with Sparse Sensing and Actuation
Abstract
In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified H2 and H∞ performance criteria. For output-feedback control, we extend these formulations to simultaneously design control laws with sparse actuation and sensing. The sparsity is induced through the minimization of a weighted 1 norm, promoting the efficient use of sensors and actuators while maintaining desired closed-loop performance. The proposed methods are applied to a nonlinear structural dynamics problem, demonstrating the advantages of simultaneous optimization of the control law, sensing, and actuation architecture in realizing an efficient closed-loop system.
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