Sensorless supervision of linear dynamical systems: The Feed-Forward Command Governor approach

Garone, Emanuele; Tedesco, Francesco; Casavola, Alessandro

doi:10.1016/j.automatica.2011.01.034

Cited by 26 publications

(42 citation statements)

References 20 publications

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“…The approach of constraining the increments on v(t) has been used in our previous research [5] to handle the case of network communication induced delays; it has also been used by the authors of [7].…”

Section: B Constraint Enforcement Based On Reduced Order Modelmentioning

confidence: 99%

Reduced order reference governor

Kalabić

Kolmanovsky

Buckland

et al. 2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

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Reference governors are add-on control schemes for enforcing constraints in closed-loop systems. This paper presents an approach to reducing the reference governor complexity for systems with states decomposable into "slow" and "fast" states. The reference governor design is based on the reduced order model for "slow" states, where constraints are tightened to ensure that the contribution of fast states does not cause constraint violation. The first of two examples demonstrates that a reference governor based on just two states can handle the surge constraint for a turbocharged downsized gasoline described by five dynamic states. The second example demonstrates that the tip deflection limits in an infinitedimensional model of a flexible Euler-Bernoulli free-free beam can be handled based on just two modal coordinates.

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Section: B Constraint Enforcement Based On Reduced Order Modelmentioning

confidence: 99%

Reduced order reference governor

Kalabić

Kolmanovsky

Buckland

et al. 2012

2012 IEEE 51st IEEE Conference on Decision and Control (CDC)

View full text Add to dashboard Cite

show abstract

“…In [2], the Feed-Forward CG (FF-CG) approach has been proposed, where a CG action having the following structure g(t) = g(r(t), g(t − τ )) (5) was proved to have similar properties of the standard CG state-based approach when computed every τ steps and kept constant between two subsequent updating, without hinging upon on the explicit knowledge of the state vector.…”

Section: System Description and Problem Formulationmentioning

confidence: 99%

“…THE FEED-FORWARD CG APPROACH In this section we recall the basic ideas and notation of the FF-CG approach proposed in [2] which will be relevant for the the forthcoming discussion. To this end, consider, for a given δ > 0, the sets:…”

Section: System Description and Problem Formulationmentioning

confidence: 99%

“…Details on the computation of ρ g(t) can be found in [2]. Then, the FF-CG design problem translates into the problem of defining an algorithm that is able to select, at each time t, a reference value g(t) such that (9) holds true for all k ≥ 0.…”

Section: System Description and Problem Formulationmentioning

confidence: 99%

“…The problem of interest here is a detailed investigation of a sort of liveliness properties of the sequential distributed supervision strategy proposed in the companion paper [1], based on Feed-Forward Command Governor (FFCG) ideas recently proposed in [2]. In the latter work, at the price of some additional conservativeness, a scheme able to accomplish the CG task in the absence of an explicit measure or estimate of the state has been presented.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A liveliness analysis of a distributed constrained coordination strategy for multi-agent linear systems

Casavola

Garone

Tedesco

2011

IEEE Conference on Decision and Control and European Control Conference

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In this paper we present a complete liveliness analysis for a novel distributed supervision strategy for multiagent systems connected via data links and subject to coordination constraints. A geometrical Constraints Qualification (CQ) condition on the prescribed constraints is proposed whose fulfilment avoid deadlock situations and ensure viable solutions. Such a coordination paradigm, referred to as coordination-byconstraint, is accomplished by solving on-line in a distributed manner a convex optimization problem involving the modification of the prescribed nominal set-point of each agent. A sequential strategy, where only one agent at the time is allowed to manipulate its own setpoint, is discussed and it is shown that the solvability at each time instant of the underlying optimization problem, unlike the centralized case, can be ensured only if the constraints satisfy such a (CQ) condition, which can be easily checked from the outset via a numerical procedure provided in the paper. An algorithm to compute Constraints Qualified (CD) arbitrarily accurate inner approximations of the original constraint set is also presented and exemplified in final example.

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A new command governor architecture for transient response shaping

Yucelen

Johnson

2012

Adaptive Control & Signal

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high uncertainty levels and require less modeling information than do robust control methods. These facts make adaptive control theory a candidate for many science and engineering applications.Adaptive control approaches can be classified as either direct or indirect [4][5][6]. Direct adaptive controllers adapt feedback gains in response to system variations without requiring a parameter estimation algorithm. This property distinguishes them from indirect adaptive controllers that employ an estimation algorithm to approximate unknown system parameters and adapt controller gains. The control framework of this paper builds on a well-known class of direct adaptive controllers, specifically, model reference adaptive controllers.Whitaker et al. [7,8] originally proposed the model reference adaptive control concept. In particular, model reference adaptive control schemes have three major components, namely, an ideal reference system (model), an update law, and a controller. The ideal reference system captures a desired closed-loop dynamical system behavior for which its output (resp., state) is compared with the output (resp., state) of the uncertain dynamical system. This comparison results in an error signal used to drive the update law online. Then, the controller adapts feedback gains to minimize this error signal using the information received from the update law. It is of practical importance to note that the output (resp. state) of the uncertain dynamical system can be far different from the output (resp. state) of the ideal reference system in transient time, even though this scheme guarantees that the distance between the uncertain dynamical system and the ideal reference system vanishes asymptotically (in long term, i.e., steady state). Therefore, a high learning rate can be used in the update law to yield fast adaptation to rapidly suppress the system uncertainties in transient time.Although numerous applications have used adaptive control, the necessity of high-gain feedback for achieving fast adaptation can be a serious limitation of adaptive controllers [9][10][11]. Specifically, in certain applications, fast adaptation is required to achieve stringent stabilization or command following performance specifications in the face of large system uncertainties and abrupt changes in system dynamics. In such situations, high-gain adaptive control is necessary for rapidly reducing the mismatch between the uncertain dynamical system and the ideal reference system. However, update laws with high learning rates are not robust against high-frequency dynamical system content. That is, update laws with high learning rates possibly yield to control signals with high levels of measurement noise content and can excite unmodeled dynamics, resulting in system instability for practical applications [12]. Hence, a critical trade-off between system stability and control adaptation rate exists in most adaptive control approaches, with some notable exceptions [13][14][15].The authors in [13] present a high-gain adaptive control a...

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Sensorless supervision of linear dynamical systems: The Feed-Forward Command Governor approach

Cited by 26 publications

References 20 publications

Reduced order reference governor

Reduced order reference governor

A liveliness analysis of a distributed constrained coordination strategy for multi-agent linear systems

A new command governor architecture for transient response shaping

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