相关论文: Reference Governor Design in the Presence of Uncer…

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…

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 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…

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.…

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…

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…

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…

For safe vision-based control applications, perception-related constraints have to be satisfied in addition to other state constraints. In this paper, we deal with the problem where a multirotor equipped with a camera needs to maintain the…

This paper presents a constraint management strategy based on Scalar Reference Governors (SRG) to enforce output, state, and control constraints while taking into account the preview information of the reference and/or disturbances signals.…

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 paper addresses the problem of vehicle rollover avoidance using reference governors applied to modify the driver steering input in vehicles with an active steering system. Several reference governor designs are presented and tested with…

This paper presents a novel approach to synthesizing positive invariant sets for unmodeled nonlinear systems using direct data-driven techniques. The data-driven invariant sets are used to design a data-driven reference governor that…

Safe navigation around obstacles is a fundamental challenge for highly dynamic robots. The state-of-the-art approach for adapting simple reference path planners to complex robot dynamics using trajectory optimization and tracking control is…

This paper introduces an explicit reference governor approach for controlling time delay linear systems subject to state and input constraints. The proposed framework relies on suitable invariant sets that can be built using both…

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 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 introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…

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…

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…

This paper introduces a novel closed-form strategy that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of a set of convex constraints. The main idea consists of translating constraints in…