Improved Feed-Forward Command Governor Strategies for Constrained Discrete-Time Linear Systems

Casavola, Alessandro; Garone, Emanuele; Tedesco, Francesco

doi:10.1109/tac.2013.2270037

Cited by 14 publications

(8 citation statements)

References 29 publications

(41 reference statements)

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“…Finally, a more extreme scenario that is worth mentioning is the case where no measurement is available [52]. This is equivalent to the case when observer (29) is used with L = 0.…”

Section: Disturbance Noise and Output Feedbackmentioning

confidence: 99%

“…Reference/command governors not making use of any measurements are known in the literature as feedforward reference/command governors [101,103]. The fact that RG schemes can be built even in the absence of measurements of the state (although at the cost of a conservatism that grows with the size of the disturbance set W) is due to the fact that since A is Schur, the nominal system is open loop detectable [52].…”

Section: Disturbance Noise and Output Feedbackmentioning

confidence: 99%

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Reference and command governors for systems with constraints: A survey on theory and applications

2017

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Reference and command governors are add-on control schemes which enforce state and control constraints on pre-stabilized systems by modifying, whenever necessary, the reference. This paper surveys the extensive literature concerning the development of such schemes for linear and nonlinear systems. The treatment of unmeasured disturbances and parametric uncertainties is also detailed. Generalizations, including extended command governors, feedforward reference governors, reduced order reference governors, parameter governors, networked reference governors, and decentralized/distributed reference governors, are discussed. Practical applications of these techniques are presented and surveyed as well. A comprehensive list of references is included. Connections with related approaches, including model predictive control and input shaping, are discussed. Opportunities and directions for future research are highlighted.

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“…Finally, a more extreme scenario that is worth mentioning is the case where no measurement is available [52]. This is equivalent to the case when observer (29) is used with L = 0.…”

Section: Disturbance Noise and Output Feedbackmentioning

confidence: 99%

Section: Disturbance Noise and Output Feedbackmentioning

confidence: 99%

Reference and command governors for systems with constraints: A survey on theory and applications

2017

Self Cite

View full text Add to dashboard Cite

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“…Our SFC solutions can be viewed as a support for other control solutions including fuzzy, neural, sliding mode and adaptive control (Blažič et al, 2010;Precup et al, 2009Precup et al, , 2012Ruano et al, 2002). The performance can be improved by inserting sensitivity, robustness objectives and constraints (Casavola et al, 2014;Gutiérrez-Carvajal et al, 2016). The pole placement method applied in this paper can be replaced by the optimal design and tuning by means of classical or modern optimization algorithms (Bandarabadi et al, 2015;Johanyák, 2015;Menchaca-Mendez and Coello Coello, 2016).…”

Section: Discussionmentioning

confidence: 99%

State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia

Szedlak-Stînean

Precup

Preitl

et al. 2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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This paper presents details regarding the design of two state feedback control (SFC) solutions for the position control of a mechatronics application represented by the Model 220 Industrial Plant Emulator. Since SFC is not effective in terms of zero steady-state control error, the SFC structure of both solutions is inserted in a control loop that contains a PID controller with or without low-pass filter. This leads to the two SFC solutions proposed in this paper and dedicated to mechatronics applications with variable moment of inertia. The PID controllers are tuned by the Modulus Optimum method to ensure high control system performance expressed as increased phase margins and improved tracking performance. The performance of the proposed SFC solutions is illustrated by case studies that deal with experimentally identified parameters in two situations, rigid body dynamics and flexible drive dynamics. Simulation and experimental results obtained for the three significant values of the moment of inertia of the load disk are given.

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“…It generates a virtual command which is designed to be close to the original as much as possible based on the reference received from the human operator and the outputs of closed-loop system (measured or estimated). Meanwhile, the governor does not change the dynamic performance with respect to controlled object which could be already stabilized by a closed-loop controller [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Constrained Control for Cloud Robotic Under Time Delay Based on Command Governor With Interval Estimation

Shen

Song

et al. 2019

IEEE Access

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The constrained command tracking problem for the cloud robotic system with unknown bounded time-varying delays is considered. Based on a novel predictor-observer approach, a command governor is proposed to modify the received command in order to guarantee the constraint enforcement of remote robot. We firstly use a prediction algorithm in the forward channel to generate a virtual command, which is close to the original one as much as possible when the danger of constraint violation exists. Then, to deal with the measurement delay and disturbance in the backward channel, interval estimations of the system states are applied instead of delayed measurements in the prediction algorithm of the command governor. The constraints can be rigorously enforced with the upper and lower estimations. The efficiency of the proposed approach is demonstrated by simulations in the case of a single-degree-of-freedom manipulator. INDEX TERMS Cloud robotic, time delay, command governor, constraint control, interval observer.

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Improved Feed-Forward Command Governor Strategies for Constrained Discrete-Time Linear Systems

Cited by 14 publications

References 29 publications

Reference and command governors for systems with constraints: A survey on theory and applications

Reference and command governors for systems with constraints: A survey on theory and applications

State Feedback Control Solutions for a Mechatronics System with Variable Moment of Inertia

Constrained Control for Cloud Robotic Under Time Delay Based on Command Governor With Interval Estimation

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