Set-based and Dynamical Feedback-augmented Hands-off Control

Abstract: A novel set-theoretical approach to hands-off control is proposed, which focuses on spatial arguments for command limitation, rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is employed only to drive the system's state inside a "hands-off region" of its state-space, where the plant may freely evolve in open-loop configuration. A computationally-efficient procedure with strong theoretical guarantees is devised, and its effectiveness is showcased via an intuitive practical example.