Fast Hands-Off Control Using ADMM Real-Time Iterations

We investigate the implementation of a sparsitypromoting hands-off control scheme using alternating direction method multiplies (ADMM). In order to minimize numerical effort along with actuation one, only single ADMM iteration per time step is considered. analyze resulting closed-loop dynamics for linear systems additive disturbances and show that proposed provides sparse controls as desired and, in addition, ensures input-to-state practical stability. further point out close relation between real-time (nonminimum time) dead-beat control. Finally, characteristics effectiveness novel controller(s) are illustrated examples.