Reference And Extended Command Governors for Constrained Control: Theory and Applications

本研究的目标是推进系统的参考和扩展命令总督控制理论和算法，例如缩小的系统，目前由于缺乏处理严格状态和控制约束的能力而无法实现最佳性能。总督是预测控制算法，增强高性能反馈回路和修改参考命令，以保护系统免受约束违反。在本研究中，针对：(a)具有快速和缓慢动力学的系统，(b)具有非线性约束的线性系统，(c)在李群上动态演化的系统，(d)具有动态扰动模型的系统，以及(e)将调控器放置在有意或无意创建的反馈回路中的情况，开发了参考和扩展命令调控器方法。研究进展从发展理论和算法，到使用模拟和实验处理高影响的汽车和航空航天应用，到向学术和工业受众传播研究成果，并将研究成果纳入课程以加强学生教育。这项研究对汽车和航空运输、能源效率、环境、国防和维护空间基础设施有潜在的好处。具体来说，所取得的进展将：(a)实现更高水平的汽车发动机小型化和汽车燃油经济性改进，(b)允许在紧急机动期间更积极地使用飞机燃气涡轮发动机，这将提高飞机的安全性，(c)延长非常灵活的飞机的安全范围和任务持续时间（用于各种商业和军事用途），(d)增强自主航天器的姿态控制和安全交会和近距离机动能力，(e)改进小型储能汽车和航空航天混合动力装置的能源管理。研究结果通过出版物（包括专著）传播，并在Matlab工具箱中实现，将支持研究人员，学生和从业者在他们的活动中开发和实现参考和扩展命令调控器。

The objectives of this research are to advance Reference and Extended Command Governor control theory and algorithms for systems, such as downsized systems, that can presently fail to perform optimally due to lack of ability to handle stringent state and control constraints. The Governors are predictive control algorithms that augment high performance feedback loops and modify reference commands to protect the system from constraint violation. In this research, Reference and Extended Command Governor methods are developed for: (a) systems with fast and slow dynamics, (b) linear systems with nonlinear constraints, (c) systems with dynamics evolving on Lie groups, (d) systems with dynamic disturbance models, and (e) for the case when Governors are placed inside intentionally or unintentionally created feedback loops. The research progresses from developing the theory and algorithms, to treating high impact automotive and aerospace applications using simulations and experiments, to disseminating research results for academic and industrial audience, and to incorporating research results into courses to enhance student education. This research has a potential to benefit automotive and aerospace transportation, energy efficiency, environment, defense, and maintaining space infrastructure. Specifically, the advances made will: (a) enable higher levels of automotive engine downsizing and vehicle fuel economy improvements, (b) allow for a more aggressive use of aircraft gas turbine engines during emergency maneuvering which will increase aircraft safety, (c) extend the safe range and mission duration of very flexible aircraft (for a variety of commercial and military use), (d) enhance attitude control and safe rendezvous and proximity maneuvering capability for autonomous spacecraft, (e) improve energy management of automotive and aerospace hybrid powerplants with small energy storage. The research results disseminated through publications (including a monograph), and implemented in a Matlab toolbox, will support researchers, students and practitioners alike in their activities to develop and implement the Reference and Extended Command Governors.