Reference Governor for Constrained Systems with Time-varying References
Reference Governor for Constrained Systems with Time-varying References
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DOI：
10.1016/j.robot.2008.10.015
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发表时间：
2006-12
期刊：
影响因子：
--
通讯作者：
K. Kogiso;K. Hirata
中科院分区：
文献类型：
--
作者：
K. Kogiso;K. Hirata
针对具有时变参考的约束线性系统，提出了一种参考调速器的构造方法。这种参考调速器的主要优点是同时考虑满足约束条件和评估跟踪性能。为了推导约束满足的条件，我们采用了最大输出容许集的概念，并评估跟踪性能的管理问题的时变参考归结为一个凸二次规划问题。最后，参考调速器的状态和参考变量的分段仿射函数的形式，使用多参数规划技术。此外，我们通过一个实际直流位置伺服系统的控制约束的数值例子，证明了参考调速器的有效性
This paper proposes a reference governor construction method for constrained linear systems with time-varying references. The main advantage of this reference governor is to simultaneously consider fulfillment of constraint conditions and evaluation of tracking performance. To derive a condition for constraint fulfillment we adopt a concept of maximal output admissible sets, and to evaluate tracking performance the management problem of time-varying references is reduced into a convex quadratic programming problem. Finally, the reference governor is obtained in the form of a piecewise affine function of state and reference variables, using a multi-parametric programming technique. In addition, we demonstrate the effectiveness of reference governors by a numerical example of a practical DC position servomechanism with control constraints