Input-Output Data-Driven Sensor Selection for Cyber-Physical Systems

Abstract

In this paper, we consider the problem of input-output data-driven sensor selection for unknown cyber-physical systems (CPS). In particular, out of a large set of sensors available for use, we choose a subset of them that maximizes a metric of observability of the CPS. The considered observability metric is related to the $\mathcal{H}_2$ system norm, which quantifies the average output energy of the selected sensors over a finite or an infinite horizon. However, its computation inherently requires knowledge of the unknown matrices of the system, so we draw connections from the reinforcement learning literature and design an input-output data-driven algorithm to compute it in a model-free manner. We then use the derived data-driven metric expression to choose the best sensors of the system in polynomial time, effectively obtaining a provably convergent model-free sensor selection process. Additionally, we show how the proposed data-driven approach can be exploited to select sensors that optimize volumetric measures of observability, while also noting its applicability to the dual problem of actuator selection. Simulations are performed to demonstrate the validity and effectiveness of the proposed approach.