Related papers: ROTEC: Robust to Early Termination Command Governo…
In this paper, a control scheme is developed based on an input constrained Model Predictive Controller (MPC) and the idea of modifying the reference command to enforce constraints, usual of Reference Governors (RG). The proposed scheme,…
The multi-timestep command governor (MCG) is an add-on algorithm that enforces constraints by modifying, at each timestep, the reference command to a pre-stabilized control system. The MCG can be interpreted as a Model-Predictive Control…
Reference and command governors are add-on schemes that augment nominal closed-loop systems with the capability to enforce state and control constraints. They do this by monitoring and modifying, when necessary, the reference command.…
The paper considers a computational governor strategy to facilitate the implementation of Model Predictive Control (MPC) based on inexact optimization when the time available to compute the solution may be insufficient. In the setting of…
Constraint management is a central challenge in modern control systems. A solution is the Reference Governor (RG), which is an add-on strategy to pre-stabilized feedback control systems to enforce state and input constraints by shaping the…
This paper presents an adaptive reference governor (RG) framework for a linear system with matched nonlinear uncertainties that can depend on both time and states, subject to both state and input constraints. The proposed framework…
Model Predictive Control (MPC) is widely used to achieve performance objectives, while enforcing operational and safety constraints. Despite its high performance, MPC often demands significant computational resources, making it challenging…
We develop an adaptive feedback control technique that combines an extremum-seeking-based command generator (ECG) with indirect adaptive control. In particular, ECG is used to generate commands that asymptotically optimize a cost function…
The controller state and reference governor (CSRG) is an add-on scheme for nominal closed-loop systems with dynamic controllers which supervises the controller internal state and the reference input to the closed-loop system to enforce…
This paper introduces a computationally efficient approach for solving Model Predictive Control (MPC) reference tracking problems with state and control constraints. The approach consists of three key components: First, a log-domain…
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, and is robust to exogenous disturbances. To this end, we…
The applications of reference governors to systems with unmeasured set-bounded disturbances can lead to conservative solutions. This conservatism can be reduced by estimating the disturbance from output measurements and canceling it in the…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
The action governor is an add-on scheme to a nominal control loop that monitors and adjusts the control actions to enforce safety specifications expressed as pointwise-in-time state and control constraints. In this paper, we introduce the…
This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…
A common aspect of today's cyber-physical systems is that multiple optimization-based control tasks may execute in a shared processor. Such control tasks make use of online optimization and thus have large execution times; hence, their…
In this work, we propose a control scheme for linear systems subject to pointwise in time state and input constraints that aims to minimize time-varying and a priori unknown cost functions. The proposed controller is based on online convex…
This paper proposes a hierarchical decentralized reference governor for constrained cascade systems. The reference governor (RG) approach is reformulated in terms of receding horizon strategy such that a locally receding horizon…
We introduce the \emph{graphical reconfigurable circuits (GRC)} model as an abstraction for distributed graph algorithms whose communication scheme is based on local mechanisms that collectively construct long-range reconfigurable channels…
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,…