This paper introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This paper establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.
Cite
@article{arxiv.2005.08358,
title = {Action Governor for Discrete-Time Linear Systems with Non-Convex Constraints},
author = {Nan Li and Kyoungseok Han and Anouck Girard and H. Eric Tseng and Dimitar Filev and Ilya Kolmanovsky},
journal= {arXiv preprint arXiv:2005.08358},
year = {2020}
}