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

Abstract

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.

Distributed iterative command governor schemes for interconnected linear systems

“…In this section, the distributed optimization method presented in [21] and [22] is recalled, and it will be used to solve in a distributed way problem (18) and, in turn, problem (13). To this end, consider for each i-th agent the following augmented cost function, related to problem (18), reinforced by the penalty function P i…”

“…In this respect, Problem (12) represents a scalarized version of (13). Moreover, a particular case of interest here, envisages the use of a block-diagonal matrix ‰ in (12), that is,…”

“…This implies that none of the N agents can no longer improve their local costs associated to .g .k/ i jOEg .k/ i / more than . of the centralized problem (13), which is no more than -far from a feasible PO solution. Proofs of the aforementioned propositions can be found in [22] and [21].…”

“…All these reasons have boosted new research efforts towards the development of distributed control and supervising methodologies [1][2][3][4][5][6][7][8], and distributed networked control systems design has emerged recently as a topic of major interest. Of interest here is the class of distributed command governor (CG)-based approaches that have been proposed in recent years [9][10][11][12], see [13] for an extensive discussion on the relevant literature.…”

Comparing the Performance of Reference Trajectory Management and Controller Reconfiguration in Attitude Fault Tolerant Control

“…The main responsibility of RTM is to adjust/modify the reference trajectories to retain the pre-fault performance of the system [6]. There are several papers that have studied the effects of RTM on the performance and stability of the post-fault system [7][8][9][10].…”