Set-Point Tracking in Constrained Nonlinear Systems: a Command Governor Approach
نویسنده
چکیده
A method is described for set-point tracking in nonlinear systems when pointwise-in-time input and/or state inequality constraints are to be enforced. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point and prescribed constraints. The CG selects at any time the system input via a receding-horizon strategy from a virtual sequence amongst all possible command sequences by solving a constrained quadratic optimization problem. Provided that the initial state be admissible, the overall system is proved to fullll the constraints and have desirable performance stability properties.
منابع مشابه
Command governors for constrained nonlinear systems
A method is described for set-point tracking in nonlinear systems when pointwise-in-time input and/or state inequality constraints are to be enforced. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point and prescribed constraints. The CG selects at any time the system input via a receding-hori...
متن کاملPredictive tracking control of constrained nonlinear systems
Tracking control of constrained nonlinear systems is a challenging problem which has recently attracted considerable attention. In particular, a successful approach is based on the so called Reference Governor (RG) [1]-[4]. The RG is essentially a nonlinear device which manipulates on-line a command input to the suitably pre-compensated closed-loop system so as to impose constraint satisfaction...
متن کاملNonlinear Control of Constrained Linear Systems via Predictive Reference Management - Automatic Control, IEEE Transactions on
A method based on conceptual tools of predictive control is described for solving set-point tracking problems wherein pointwise-in-time input and/or state inequality constraints are present. It consists of adding to a primal compensated system a nonlinear device, called command governor (CG), whose action is based on the current state, set-point, and prescribed constraints. The CG selects at an...
متن کاملReference Governor for Constrained Piecewise Affine Systems
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 ...
متن کاملReference Governor for Constrained Piecewise Affine Systems. A Vehicle Dynamics Control Application
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 th...
متن کامل