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LQG Control and Sensing Co-Design.
- Source :
-
IEEE Transactions on Automatic Control . Apr2021, Vol. 66 Issue 4, p1468-1483. 16p. - Publication Year :
- 2021
-
Abstract
- We investigate a linear-quadratic-Gaussian (LQG) control and sensing codesign problem, where one jointly designs sensing and control policies. We focus on the realistic case where the sensing design is selected among a finite set of available sensors, where each sensor is associated with a different cost (e.g., power consumption). We consider two dual problem instances: sensing-constrained LQG control, where one maximizes a control performance subject to a sensor cost budget, and minimum-sensing LQG control, where one minimizes a sensor cost subject to performance constraints. We prove that no polynomial time algorithm guarantees across all problem instances a constant approximation factor from the optimal. Nonetheless, we present the first polynomial time algorithms with per-instance suboptimality guarantees. To this end, we leverage a separation principle, which partially decouples the design of sensing and control. Then, we frame LQG codesign as the optimization of approximately supermodular set functions; we develop novel algorithms to solve the problems; and we prove original results on the performance of the algorithms and establish connections between their suboptimality and control-theoretic quantities. We conclude the article by discussing two applications, namely, sensing-constrained formation control and resource-constrained robot navigation. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00189286
- Volume :
- 66
- Issue :
- 4
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Automatic Control
- Publication Type :
- Periodical
- Accession number :
- 149553409
- Full Text :
- https://doi.org/10.1109/TAC.2020.2997661