Pointwise-Sparse Actuator Scheduling for Linear Systems with Controllability Guarantee

Abstract

This paper considers the design of sparse actuator schedules for linear time-invariant systems. An actuator schedule selects, for each time instant, which control inputs act on the system in that instant. We address the optimal scheduling of control inputs under a hard constraint on the number of inputs that can be used at each time. For a sparsely controllable system, we characterize sparse actuator schedules that make the system controllable, and then devise a greedy selection algorithm that guarantees controllability while heuristically providing low control effort. We further show how to enhance our greedy algorithm via Markov chain Monte Carlo-based randomized optimization

Copyright (c) 2024 IEEE. Personal use of this material is permitted. However, permission to use this material for any other purposes must be obtained from the IEEE by sending a request to [email protected]