Explicit Reference Governor for Constrained Nonlinear Systems
Explicit Reference Governor for Constrained Nonlinear Systems
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DOI：
10.1109/tac.2015.2476195
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发表时间：
2016-05
影响因子：
6.8
通讯作者：
E. Garone;M. Nicotra
中科院分区：
文献类型：
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作者：
E. Garone;M. Nicotra
该技术说明介绍了一种新颖的控制定律，该法律动态地修改了预补偿的非线性系统的参考，以确保对约束满意。这是通过将状态空间约束转换为lyapunov函数值的上限，并通过操纵所应用参考的速度以强制执行此界限来完成。这种方法的主要优点是它系统地提供了能够执行约束的封闭形式控制法。该理论是针对受限制的一般非线性系统引入的，然后专门针对大型且高度相关的非线性系统，该系统承认lyapunov函数由二次形式较低，并受到线性约束。数值模拟显示了所提出的方法的有效性。
This technical note introduces a novel control law that dynamically modifies the reference of a pre-compensated nonlinear system to ensure the satisfaction of constraints. This is done by translating the state space constraints into an upper bound on the value of the Lyapunov function and by manipulating the velocity of the applied reference to enforce this bound. The main advantage of this approach is that it systematically provides a closed-form control law able to enforce constraints. The theory is introduced for general nonlinear systems subject to constraints and is then specialized to the large and highly relevant class of nonlinear systems admitting a Lyapunov function lower-bounded by a quadratic form and subject to linear constraints. Numerical simulations show the effectiveness of the proposed method.