Two methods are presented for grouping actuators while minimizing performance degradation in distributed control systems with saturation constraints. Method one is based on an open-loop performance metric using controllability Grammians. The grouping problem can be converted into a graph partitioning problem which admits a solution via linear matrix inequality (LMI) optimization techniques. Method two is based on closed-loop optimal control performance for saturating control systems. In this case, we find that grouping the actuators allows online control design to account for control saturation. It was determined that the grouping problem is insensitive to changes in actuation authority.
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