CLOT optimization for distributed hands-off control with continuity

摘要

Hands-off control (or sparse control) is a control that has a small support length that achieves a given control objective. In other words, hands-off control takes zero on a relatively long time duration. Recently, this idea is extended to distributed control for consensus, called distributed hands-off control. In this control, each agent uses hands-off control, which is a bang-off-bang control taking values only ±1 and 0. This is a discontinuous control, and is not acceptable for real applications. To obtain sparse but continuous distributed control, we introduce the CLOT (Combined L-One and Two) norm optimization. We will show simulation results to illustrate the effectiveness of the proposed distributed control.