相关论文: Feasibility Governor for Linear Model Predictive C…

This paper proposes a method for enlarging the region of attraction of Linear Model Predictive Controllers (MPC) when tracking piecewise-constant references in the presence of pointwise-in-time constraints. It consists of an add-on unit,…

The motion planning problem of generating dynamically feasible, collision-free trajectories in non-convex environments is a fundamental challenge for autonomous systems. Decomposing the problem into path planning and path tracking improves…

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…

This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without online optimization. We formulate the reference update as a…

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…

Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…

This note describes a reference governor design for a continuous-time nonlinear system with an additive disturbance. The design is based on predicting the response of the nonlinear system by the response of a linear model with a set-bounded…

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,…

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…

Model predictive control solves a constrained optimization problem online in order to compute an implicit closed-loop control policy. Recursive feasibility -- guaranteeing that the optimal control problem will have a solution at every time…

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…

We tackle neural networks (NNs) to approximate model predictive control (MPC) laws. We propose a novel learning-based explicit MPC structure, which is reformulated into a dual-mode scheme over maximal constrained feasible set. The scheme…

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 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…

The paper considers the application of reference governors to linear discrete-time systems with constraints given by polynomial inequalities. We propose a novel algorithm to compute the maximal output admissible invariant set in the case of…

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…

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.…

A Command Governor (CG) is an optimization-based add-on scheme to a nominal closed-loop system. It is used to enforce state and control constraints by modifying reference commands. This paper considers the implementation of a CG on embedded…

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…

In this paper, we consider the problem of constraint management in Linear Periodic (LP) systems using Reference Governors (RG). First, we present the periodic-invariant maximal output admissible sets for LP systems. We extend the earlier…