Abstract:We study controller and control-architecture co-design for dynamic output-feedback systems. The architecture selects active sensors and actuators, sensor-to-actuator links, and link delays, with costs for hardware activation and communication latency. Direct optimization over controller transfer matrices and discrete links is mixed-integer nonconvex; common alternatives fix the architecture, use regularization, or restrict the controller information pattern to a quadratically invariant (QI) class. We instead optimize finite-horizon output-feedback system-level synthesis (OF-SLS) responses. Binary variables select sensors, actuators, links, and delays, and indicator constraints zero unavailable FIR response blocks before the selected delays. For implementation-local OF-SLS architectures, this gives an exact mixed-integer convex program over a prescribed finite delay menu. A global solve certifies the best architecture-response pair for the chosen delay menu, FIR horizon, admissible architecture set, and scalarization weight. The same encoding gives a QI controller-support reference problem. In a vehicle-platoon benchmark, 99 of 8748 architectures are QI-compatible. At equal architecture cost, the selected non-QI OF-SLS architecture reduces performance loss by a factor of 3.8 relative to the best QI architecture and outperforms regularization-based and canonical information-flow baselines.
From: Chenchen Zhou [view email]
[v1]
Fri, 12 Jun 2026 21:33:50 UTC (36 KB)
此内容由惯性聚合(RSS阅读器)自动聚合整理，仅供阅读参考。 原文来自 — 版权归原作者所有。