Reference governor for constrained piecewise affine systems

Borrelli, Francesco; Falcone, Paolo; Pekař, Jaroslav; Stewart, E. Greg

doi:10.1016/j.jprocont.2009.06.001

Cited by 40 publications

(21 citation statements)

References 25 publications

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“…Several reference governors for nonlinear systems have also been developed, see e.g., [12,20,29,108,109,186] and references therein. Some of these approaches exploit on-line prediction through simulations or level sets of Lyapunov functions to guard against constraint violation.…”

Section: Governor R(t)mentioning

confidence: 99%

Reference and command governors for systems with constraints: A survey on theory and applications

2017

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Reference and command governors are add-on control schemes which enforce state and control constraints on pre-stabilized systems by modifying, whenever necessary, the reference. This paper surveys the extensive literature concerning the development of such schemes for linear and nonlinear systems. The treatment of unmeasured disturbances and parametric uncertainties is also detailed. Generalizations, including extended command governors, feedforward reference governors, reduced order reference governors, parameter governors, networked reference governors, and decentralized/distributed reference governors, are discussed. Practical applications of these techniques are presented and surveyed as well. A comprehensive list of references is included. Connections with related approaches, including model predictive control and input shaping, are discussed. Opportunities and directions for future research are highlighted.

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Section: Governor R(t)mentioning

confidence: 99%

Reference and command governors for systems with constraints: A survey on theory and applications

2017

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“…A reference governor is a non-linear device that has been extensively used in control systems to modify the behavior of the primary controller so as to ensure the constraints satisfaction [12], [13], [14], [9]. The action of the primary controller is typically modified by means of changing its reference signal when necessary, based on the current state, set-point and system constraints.…”

Section: Introductionmentioning

confidence: 99%

Constrained Reference Tracking based on Homothetic Sets

2015

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In this paper, we consider the problem of constrained tracking of piecewise constant references for nonlinear dynamical systems. In the considered problem we assume that an existing controller satisfies constraints in a corresponding positive-invariant set of the system. To solve the problem we propose the use of homothetic transformations of the positive-invariant set to modify the existing control law. The proposed approach can be implemented as a tracking model predictive control or as a reference governor. Simulation and experimental results are provided, showing the applicability of the proposed approach to a class of nonlinear systems.Key words: Reference tracking, Model predictive control, Reference governor Slijeenje reference s ograničenjima zasnovano na homotetičnim skupovima. U radu se razmatra problem slijeenja reference s ograničenjima za nelinearne dinamičke sustave. Polazna je pretpostavka da postojeći zakon upravljanja zadovoljava ograničenja u pripadnom invarijantom skupu sustava. Uz takvu pretpostavku u radu se predlaže primjena homotetične transformacije invarijantnih skupova kako bi se izmjenio postojeći zakon upravljanja. Predloženi pristup se može primjeniti u sklopu modelskog prediktivnog upravljanja za slijeenje reference ili samostalno za oblikovanje reference. Dani su simulacijski i eksperimentalni rezultati koji pokazuju primjenjivost predložene metode za klasu nelinearnih sustava.

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“…Reference governors were first proposed as continuoustime algorithms [1] and afterwards developed in a discretetime framework [2], [3]. Alternative formulations and extensions to linear systems with disturbances and to nonlinear systems have appeared in [4], [5], [6], [7], [8], [9], and references therein.…”

Section: Introductionmentioning

confidence: 99%

Reference governors for linear systems with nonlinear constraints

Kalabić

Kolmanovsky

Gilbert

2011

IEEE Conference on Decision and Control and European Control Conference

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The paper considers the application of reference governors to linear discrete-time systems with constraints on state and output variables given by functional inequalities. Properties and on-line computational procedures which facilitate the implementation of the reference governors for linear systems with convex, convex quadratic, concave, and mixed logical dynamic constraints of if-then type are discussed. Two examples are considered. The first example is a three dimensional spacecraft rendezvous and proximity maneuvering problem where constraints are imposed on thrust magnitude, velocity of approach, collision avoidance, and positioning within the line-of-sight cone. While the spacecraft relative motion dynamics in this problem can be treated as linear, two of the constraints in this problem are convex quadratic and one of the constraints is of mixed logical dynamic type. Our second example is an electromagnetically actuated mass spring damper that has linear dynamics, a linear constraint on position, and a concave nonlinear constraint on the force due to nonlinear dependence of force on the distance. The reference governor based on the developments in this paper can elegantly and effectively handle the prescribed constraints.

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Reference governor for constrained piecewise affine systems

Cited by 40 publications

References 25 publications

Reference and command governors for systems with constraints: A survey on theory and applications

Reference and command governors for systems with constraints: A survey on theory and applications

Constrained Reference Tracking based on Homothetic Sets

Reference governors for linear systems with nonlinear constraints

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