相关论文: A Machine Learning-Based Reference Governor for No…

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…

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 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.…

This paper proposes a learning reference governor (LRG) approach to enforce state and control constraints in systems for which an accurate model is unavailable, and this approach enables the reference governor to gradually improve command…

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 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…

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…

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,…

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…

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…

Learning-based approaches, notably Reinforcement Learning (RL), have shown promise for solving optimal control tasks without explicit system models. However, these approaches are often sample-inefficient, sensitive to reward design and…

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 paper focuses on a passivity-based distributed reference governor (RG) applied to a pre-stabilized mobile robotic network. The novelty of this paper lies in the method used to solve the RG problem, where a passivity-based distributed…

Reinforcement learning (RL) shows great potential in sequential decision-making. At present, mainstream RL algorithms are data-driven, which usually yield better asymptotic performance but much slower convergence compared with model-driven…

This paper presents a novel model-reference reinforcement learning algorithm for the intelligent tracking control of uncertain autonomous surface vehicles with collision avoidance. The proposed control algorithm combines a conventional…

A fuel cell system must output a steady voltage as a power source in practical use. A neural network (NN) based model predictive control (MPC) approach is developed in this work to regulate the fuel cell output voltage with safety…

Pseudo-Random Numbers Generators (PRNGs) are algorithms produced to generate long sequences of statistically uncorrelated numbers, i.e. Pseudo-Random Numbers (PRNs). These numbers are widely employed in mid-level cryptography and in…

Linear Quadratic Regulator (LQR) is often combined with feedback linearization (FBL) for nonlinear systems that have the nonlinearity additive to the input. Conventional approaches estimate and cancel the nonlinearity based on the first…

This paper presents a novel model-reference reinforcement learning control method for uncertain autonomous surface vehicles. The proposed control combines a conventional control method with deep reinforcement learning. With the conventional…

Learning-based model predictive control (MPC) is an approach designed to reduce the computational cost of MPC. In this paper, a constrained deep neural network (DNN) design is proposed to learn MPC policy for nonlinear systems. Using…