Reference and command governors: A tutorial on their theory and automotive applications

Kolmanovsky, Ilya; Garone, Emanuele; Cairano, Stefano Di

doi:10.1109/acc.2014.6859176

Cited by 141 publications

(98 citation statements)

References 101 publications

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“…Reference governors are add-on control schemes for closed-loop dynamical systems to enforce pointwise-in-time state and control constraints while maintaining stability properties [13], [19]- [21]. The fundamental idea of reference governors is based on the separation of the issues of stability and constraint satisfaction.…”

Section: B Reference Governorsmentioning

confidence: 99%

“…Like the total energy based smooth extensions [4], our construction uses sublevel sets of total energy to ensure stability and to guard against collisions, but, instead of simultaneously tackling stability and collision avoidance requirements, it separates the problems of stability and constraint enforcement via reference governors [13]. We introduce a new concept of a bidirectionally coupled robotgovernor system, where the second-order robot asymptotically chases the governor irrespective of state and control constraints and the first-order governor enforces constraint satisfaction while following the flow of the reference dynamics as closely as possible.…”

Section: B Contributions and Organization Of The Papermentioning

confidence: 99%

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Smooth extensions of feedback motion planners via reference governors

Arslan

Koditschek

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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In robotics, it is often practically and theoretically convenient to design motion planners for approximate loworder (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate high-order (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to extend the applicability of low-order feedback motion planners to high-order robot models, while retaining stability and collision avoidance properties, as well as enforcing additional constraints that are specific to the high-order models. Our smooth extension framework leverages the idea of reference governors to separate the issues of stability and constraint satisfaction, affording a bidirectionally coupled robot-governor system where the robot ensures stability with respect to the governor and the governor enforces state (e.g., collision avoidance) and control (e.g., actuator limits) constraints. We demonstrate example applications of our framework for augmenting path planners and vector field planners to the second-order robot dynamics.Keywords smooth extensions; command governors; reference governors; collision avoidance;robot dynamics;stability;collision avoidance;constraint satisfaction;feedback motion planners;path planners;reference governors;robot models;robot-governor system;robotics;second-order robot dynamics;smooth extensions;stability;vector field planners;Asymptotic stability;Collision avoidance;Computational modeling;Dynamics;Navigation;Robots;Stability analysis Disciplines Computer Engineering | Controls and Control Theory | Electrical and Computer Engineering | Engineering | RoboticsThis conference paper is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/790 Smooth Extensions of Feedback Motion Planners via Reference GovernorsOmur Arslan and Daniel E. KoditschekAbstract-In robotics, it is often practically and theoretically convenient to design motion planners for approximate loworder (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate highorder (e.g., force/torque-controlled) robot models. In this paper, we introduce a novel provably correct approach to extend the applicability of low-order feedback motion planners to high-order robot models, while retaining stability and collision avoidance properties, as well as enforcing additional constraints that are specific to the high-order models. Our smooth extension framework leverages the idea of reference governors to separate the issues of stability and constraint satisfaction, affording a bidirectionally coupled robot-governor system where the robot ensures stability with respect to the governor and the governor enforces state (e.g., collision avoidance) and control (e.g., actuator limits) constraints. We demonstrate example applications of our framework for augmenting path planners and vector field planners to the second-order robot dynamics.

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Section: B Reference Governorsmentioning

confidence: 99%

Section: B Contributions and Organization Of The Papermentioning

confidence: 99%

Smooth extensions of feedback motion planners via reference governors

Arslan

Koditschek

2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

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“…An excellent survey of the different types of reference and command governors is given in the paper by Kolmanovsky et al [45].…”

Section: Closed Loop Systemmentioning

confidence: 99%

Command Governor Approach to Maneuver Limiting in Fighter Aircraft

Simon

Härkegård²,

Löfberg

2017

Journal of Guidance, Control, and Dynamics

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“…At each sampling time step, the coordinated control problem is solved to yield v(n), t ≤ n ≤ t + N c that minimizes (22) subject to the dynamics (21) with the dose-response model parametersâ q andâ r adapted in the previous sampling time step as well as the constraints (18), (19), and (23). Then, v(t) is applied to the system to adjust the reference targets, which are tracked by the semi-adaptive controller while the patient's dose-response model parameters are adapted.…”

Section: Coordinated Control Via Recursive Reference Adjustmentmentioning

confidence: 99%

“…[23][24][25] However, these techniques are not appropriate to address the challenge at hand for at least two reasons. Most importantly, the primary goal of a reference governor is to keep the adjusted reference targets as close as possible to the original ones and ideally to ultimately bring them back to the original ones.…”

Section: Introductionmentioning

confidence: 99%

Coordinated semi‐adaptive closed‐loop control for infusion of two interacting medications

Jin

Kim

Shipley

et al. 2017

Adaptive Control & Signal

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SummaryThis paper presents a coordinated and semi-adaptive closed-loop control approach to the infusion of 2 interacting medications. The proposed approach consists of an upper-level coordination controller and a lower-level semiadaptive controller. The coordination controller recursively adjusts the reference targets based on the estimated dose-response relationship of a patient to ensure that they can be achieved by the patient. The semi-adaptive controller drives the patient outputs to the reference targets while estimating the patient's dose-response relationship online. In this way, the controller is resilient to unachievable caregiver-specified reference targets and responsive to the medication needs of individual patients. To establish the proposed approach, we developed the following: (1) a linear two-input-two-output dose-response model; (2) a two-input-two-output semi-adaptive controller to regulate the patient outputs while adapting high-sensitivity parameters in the patient model; and (3) a coordination controller to adjust the reference targets that reconcile caregiver inputs and medication use. The proposed approach was applied to an example scenario in which cardiac output and respiratory rate are regulated via infusion of propofol and remifentanil in an in silico simulation setting. The results show that the coordinated semi-adaptive control could (1) track achievable reference targets with consistent transient and steady-state performance and (2) resiliently adjust the unachievable reference targets to achievable ones.

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Reference and command governors: A tutorial on their theory and automotive applications

Cited by 141 publications

References 101 publications

Smooth extensions of feedback motion planners via reference governors

Smooth extensions of feedback motion planners via reference governors

Command Governor Approach to Maneuver Limiting in Fighter Aircraft

Coordinated semi‐adaptive closed‐loop control for infusion of two interacting medications

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