Constraint fulfilment in feedback control via predictive reference management

Bemporad,; Mosca, Ab

doi:10.1109/cca.1994.381285

Cited by 28 publications

(19 citation statements)

References 13 publications

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“…Studies along similar lines can be found in [8]- [14] for linear control systems. The present paper extends these ideas to nonlinear continuous-time systems and is organized as follows.…”

Section: Introductionmentioning

confidence: 86%

Reference governor for constrained nonlinear systems

Bemporad¹

1998

IEEE Trans. Automat. Contr.

481

237

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This paper addresses the problem of satisfying pointwise-intime input and/or state hard constraints in nonlinear control systems. The approach is based on conceptual tools of predictive control and consists of adding to a primal compensated nonlinear system a Reference Governor (RG). This is a discrete-time device which on-line handles the reference to be tracked, taking into account the current value of the state in order to satisfy the prescribed constraints. The resulting hybrid system is proved to fulfill the constraints as well as stability and tracking requirements.

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“…Studies along similar lines can be found in [8]- [14] for linear control systems. The present paper extends these ideas to nonlinear continuous-time systems and is organized as follows.…”

Section: Introductionmentioning

confidence: 86%

Reference governor for constrained nonlinear systems

Bemporad¹

1998

IEEE Trans. Automat. Contr.

481

237

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“…Of interest in this paper is a novel constrained control methodology based on conceptual tools of MPC and known as "Command Governor" strategy. The first theoretical results appeared in [11]. These were based on the preliminary studies reported in [12].…”

Section: Introductionmentioning

confidence: 94%

Flight control with amplitude and rate constraints: A Command Governor approach

Martino¹

2008

2008 American Control Conference

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In this paper we present an application of a novel constrained control technique known as Command Governor (CG) to deal with the problem of actuator amplitude and rate saturation on aircrafts. The aim of the CG strategy consists of modifying, whenever necessary, the reference signal supplied to a primal compensated system so as to guarantee the fulfillment of existing constraints. CG action is obtained solving on line an optimization procedure which embodies the future plantevolution according to the receding horizon philosophy. To show the effectiveness of the proposed constrained control algorithm numerical simulations are carried out on a small commercial aircraft of the General Aviation class.

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“…The number of regions in the solution to (23) might prohibit the real-time implementation for systems with limited computational and storage resources. In the next section we propose an alternative approach based on the results presented in [5], [6], [7], [2], [1] and show how to design a low-complexity controller which guarantees constraint satisfaction by using the idea of reference governor.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Such device is called reference governor (RG) and its operation is based on the current state, set-point, and prescribed constraints. Typically the RG selects at any time a virtual reference sequence among a family of linearly parameterized sequences, by solving a convex constrained quadratic optimization problem, and feeds the controlled system according to a receding horizon control philosophy [5]. The overall system is proved to fulfill the constraints, be asymptotically stable, and exhibit an offset-free tracking behavior, provided that an admissibility condition on the initial state is satisfied [5].…”

Section: Introductionmentioning

confidence: 99%

“…In the first part of this paper, we present an approach to the design of reference tracking controllers for constrained, discrete-time piecewise affine systems based on the concept of "reference governor" [5], [6], [7], [2], [1], [34], [23], [17], [18]. The idea underlying reference governor is to add a nonlinear device to a controlled system.…”

Section: Introductionmentioning

confidence: 99%

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A reference governor approach for constrained piecewise affine systems

Falcone

Borrelli

Pekař

et al. 2009

2009 European Control Conference (ECC)

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Abstract-In this paper we present a novel approach to the design of reference tracking controllers for constrained, discrete-time piecewise affine systems and apply it to a vehicle yaw control problem. The paper is divided in two parts. In the first part, we present a methodology for designing reference tracking controllers for constrained, discrete-time piecewise affine systems. The approach follows the idea of reference governor techniques where the desired set-point is filtered by a system called the "reference governor". Based on the system current state, set-point, and prescribed constraints, the reference governor computes a new set-point for a low-level controller so that the state and input constraints are satisfied and convergence to the original set-point is guaranteed.In the second part of the paper, we apply the proposed approach to a vehicle dynamics control problem where the vehicle yaw rate have to be controlled through an Active Front Steering (AFS) system.

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Constraint fulfilment in feedback control via predictive reference management

Cited by 28 publications

References 13 publications

Reference governor for constrained nonlinear systems

Reference governor for constrained nonlinear systems

Flight control with amplitude and rate constraints: A Command Governor approach

A reference governor approach for constrained piecewise affine systems

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